add ROS-O test

.github/workflows/ci.yml

@@ -5,10 +5,12 @@ jobs:
     runs-on: ubuntu-latest
     name: ci
     strategy:
+      fail-fast: false
       matrix:
         include:
           - CHECK_PYTHON3_COMPILE : true
           - TEST : catkin_lint
+            DOCKER_IMAGE : ubuntu:focal
           - TEST : clang-format
           - TEST : clang-tidy
             ROS_DISTRO : melodic
@@ -27,6 +29,10 @@ jobs:
             DOCKER_IMAGE : ubuntu:bionic
           - ROS_DISTRO : noetic
             DOCKER_IMAGE : ubuntu:focal
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:jammy
+          - ROS_DISTRO : one
+            DOCKER_IMAGE : ubuntu:noble
           - TEST : debian-unstable
             DOCKER_IMAGE : debian:unstable
     steps:
@@ -48,7 +54,7 @@ jobs:
         run: python3 -m compileall .
       # catkin_lint
       - name: catkin_lint setup
-        if: matrix.TEST == 'catkin_lint'
+        if: matrix.TEST == 'catkin_lint' && matrix.DOCKER_IMAGE == ''
         run: |
           sudo apt-get install -y -q python3-pip
           # See https://github.com/ros-perception/opencv_apps/pull/143
@@ -57,7 +63,7 @@ jobs:
           sudo rosdep init
           rosdep update
       - name: catkin_lint test
-        if: matrix.TEST == 'catkin_lint'
+        if: matrix.TEST == 'catkin_lint' && matrix.DOCKER_IMAGE == ''
         run: |
           ROS_DISTRO=melodic catkin_lint --resolve-env --strict $PWD
       # clang-format
@@ -74,4 +80,4 @@ jobs:
       - name: script
         if: matrix.DOCKER_IMAGE
         run: |
-          docker run --rm -i -v $PWD:$PWD -e "CI_SOURCE_PATH=$PWD" -e "HOME=$HOME" -e "ROS_DISTRO=${{ matrix.ROS_DISTRO }}" -e "OPENCV_VERSION=${{ matrix.OPENCV_VERSION }}" -e "TEST=${{ matrix.TEST }}" ${{ matrix.DOCKER_IMAGE }} sh -c "cd $PWD; /bin/bash .travis.sh"
+          docker run --rm -i -v $PWD:$PWD -e "CI_SOURCE_PATH=$PWD" -e "HOME=$HOME" -e "ROS_DISTRO=${{ matrix.ROS_DISTRO }}" -e "OPENCV_VERSION=${{ matrix.OPENCV_VERSION }}" -e "TEST=${{ matrix.TEST }}" -e "DOCKER_IMAGE=${{ matrix.DOCKER_IMAGE }}" ${{ matrix.DOCKER_IMAGE }} sh -c "cd $PWD; /bin/bash .travis.sh"

.travis.sh

@@ -26,7 +26,18 @@ function setup {
     travis_time_start setup.before_install
     #before_install:
     # Install ROS
-    sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        UBUNTU_DISTRO=$(echo "$DOCKER_IMAGE" | cut -d':' -f2)
+        echo "deb [trusted=yes] https://raw.githubusercontent.com/k-okada/ros-o-builder/$UBUNTU_DISTRO-one-unstable/repository/ ./" | sudo tee /etc/apt/sources.list.d/ros-o-builder.list
+        DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo -E apt install -y software-properties-common
+        [[ "$UBUNTU_DISTRO" ==  "noble" ]] && sudo -E add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros
+        [[ "$UBUNTU_DISTRO" ==  "jammy" ]] && sudo -E add-apt-repository -y ppa:k-okada/python3-catkin-tools
+        DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo -E apt install -y python3-rosdep2
+        echo "yaml https://raw.githubusercontent.com/k-okada/ros-o-builder/$UBUNTU_DISTRO-one-unstable/repository/local.yaml debian" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+rosdep update
+    else
+        sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    fi
     wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
     # Setup EoL repository
     if [[ "$ROS_DISTRO" ==  "hydro" || "$ROS_DISTRO" ==  "jade" || "$ROS_DISTRO" ==  "lunar" ]]; then
@@ -41,20 +52,41 @@ function setup {
     fi
     ###
     # Install ROS
-    if [[ "$ROS_DISTRO" ==  "noetic" ]]; then
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        if [[ "$UBUNTU_DISTRO" == "jammy" ]]; then
+            sudo apt-get install -y -q python3-catkin-pkg python3-wstool python3-rosinstall-generator python3-osrf-pycommon
+            sudo apt-get install -y -q python3-catkin-tools
+        else
+            sudo apt-get install -y -q python3-pip python3-zombie-imp
+            pip3 install --user --break-system-packages vcstool
+            pip3 install --user --break-system-packages rosinstall-generator
+            export PATH="$PATH:~/.local/bin"
+            sudo apt-get install -y -q python3-catkin-pkg python3-osrf-pycommon
+            sudo apt-get install -y -q catkin-tools
+        fi
+    elif [[ "$ROS_DISTRO" ==  "noetic" ]]; then
         sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon
     else
         sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
     fi
-    sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+    if [[ "$ROS_DISTRO" ==  "one" ]]; then
+        sudo apt-get install -y -q catkin
+        sudo apt-get install -y -q ros-$ROS_DISTRO-rosbash ros-$ROS_DISTRO-ros-environment
+    else
+        sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
+    fi
+    export ROS_DISTRO=$_ROS_DISTRO
     source /opt/ros/$ROS_DISTRO/setup.bash
     # Setup for rosdep
-    sudo rosdep init
+    [ -e /etc/ros/rosdep/sources.list.d ] || sudo rosdep init
     # use snapshot of rosdep list
     # https://github.com/ros/rosdistro/pull/31570#issuecomment-1000497517
     if [[ "$ROS_DISTRO" =~ "hydro"|"indigo"|"jade"|"kinetic"|"lunar" ]]; then
         sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
-        sudo wget https://gist.githubusercontent.com/cottsay/b27a46e53b8f7453bf9ff637d32ea283/raw/476b3714bb90cfbc6b8b9d068162fc6408fa7f76/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
+        sudo wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/refs/heads/master/rosdep_snapshots/30-xenial.list -O /etc/ros/rosdep/sources.list.d/30-xenial.list
+    elif [[ "$ROS_DISTRO" =~ "melodic" ]]; then
+        sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+        sudo wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/refs/heads/master/rosdep_snapshots/30-bionic.list -O /etc/ros/rosdep/sources.list.d/30-bionic.list
     fi
     rosdep update --include-eol-distros
     travis_time_end
@@ -75,14 +107,17 @@ function setup {
     #before_script:
     # source dependencies: install using wstool.
     cd ~/catkin_ws/src
-    wstool init
+    wstool init || echo "OK"
     #if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator image_pipeline --upstream >> .rosinstall.opencv3; fi # need to recompile image_proc
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator compressed_image_transport --upstream >> .rosinstall.opencv3; fi # need to recompile compressed_image_transport
     if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator vision_opencv --upstream >> .rosinstall.opencv3; fi # need to recompile visoin_opencv
-    if [ "$OPENCV_VERSION" == 3 ]; then wstool merge .rosinstall.opencv3; fi # need to recompile visoin_opencv
-    wstool up
-    wstool info
+    if [ "$ROS_DISTRO" == "indigo" ]; then ROS_DISTRO=kinetic rosinstall_generator roslaunch >> .rosinstall.opencv3; fi # face_detection.launch requires roslaunch-check >= 1.12.1
+    if [[ "$OPENCV_VERSION" == 3 || "$ROS_DISTRO" == "indigo" ]]; then wstool merge .rosinstall.opencv3 || [ ! -s .rosinstall.opencv3 ] || vcs import . < .rosinstall.opencv3 ; fi # need to recompile visoin_opencv
+    git config --global --add safe.directory $CI_SOURCE_PATH
+    git config --global --add safe.directory ~/catkin_ws/src || echo "OK"
+    wstool up || vcs pull
+    wstool info || vcs branch
     if [ "$OPENCV_VERSION" == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' */*/package.xml ; fi
 
 
@@ -93,6 +128,7 @@ function setup {
 }
 
 function build {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start build.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
@@ -101,6 +137,7 @@ function build {
 }
 
 function run_test {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start run_test.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
@@ -110,6 +147,7 @@ function run_test {
 }
 
 function build_install {
+    export ROS_DISTRO=$_ROS_DISTRO
     travis_time_start build_install.script
     source /opt/ros/$ROS_DISTRO/setup.bash
     cd ~/catkin_ws
@@ -119,20 +157,25 @@ function build_install {
     travis_time_end
 }
 
+# setup.bash override ROS_DISTRO...
+export _ROS_DISTRO=$ROS_DISTRO
+
 travis_time_start apt.before_install
 apt-get -y -qq update || if [ $? -eq 100 ]; then sed -i 's/archive.ubuntu.com/old-releases.ubuntu.com/g' /etc/apt/sources.list; apt-get -y -qq update; fi
-apt-get install -y -q wget sudo lsb-release gnupg # for docker
+apt-get install -y -q wget sudo lsb-release gnupg ca-certificates git # for docker
 # set DEBIAN_FRONTEND=noninteractive
 echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
 travis_time_end
 
 if [ "$TEST" == "catkin_lint" ]; then
 
     travis_time_start catkin_lint.script
-    apt-get install -y -q python-pip
-    pip install catkin_lint rosdep
+    apt-get install -y -q python3-pip
+    # See https://github.com/ros-perception/opencv_apps/pull/143
+    # In catkin_lint > 1.6.18, cmake_minimum_required >= 2.8.12
+    sudo pip3 install catkin_lint==1.6.18 rosdep
     rosdep init
-    rosdep update
+    rosdep update --include-eol-distros
     travis_time_end
     ROS_DISTRO=melodic catkin_lint --resolve-env --strict $CI_SOURCE_PATH
 
@@ -173,6 +216,14 @@ elif [ "$TEST" == "debian-unstable" ]; then
     apt update
     apt-get -y build-dep ros-opencv-apps
 
+    # rebuild cv-bridge to fix '/usr/bin/ld: cannot find -lopencv_barcode: No such file or directory'
+    travis_time_start rebuild_cv_bridge_deb.script
+    apt source ros-vision-opencv
+    apt-get -y build-dep $(find -type d -iname "ros-vision-opencv*")
+    (cd $(find -type d -iname "ros-vision-opencv*") && dpkg-buildpackage -b -us -uc)
+    dpkg -i *.deb
+    travis_time_end
+
     travis_time_start build_debian_unstable.script
     cd $CI_SOURCE_PATH
     mkdir build

CMakeLists.txt

@@ -13,7 +13,7 @@ if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "7")
   else ()
     message(FATAL_ERROR "C++11 needed. Therefore a gcc compiler with a version higher than 4.3 is needed.")
   endif()
-endif(CMAKE_COMPILER_IS_GNUCXX)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp sensor_msgs std_msgs std_srvs class_loader)
 

launch/face_detection.launch

@@ -29,9 +29,16 @@
   <arg if="$(arg use_opencv4)"
        name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
 
-  <arg unless="$(arg use_opencv3)"
+  <!-- if all use_opencv3 is true, but all other variable is false, then use /usr/share/opencv -->
+  <!-- eval requires roslaunch >= 1.12.1 -->
+  <arg if="$(eval use_opencv3 and not use_opencv3_1 and not use_opencv3_2 and not use_opencv3_3 and not use_opencv4)"
        name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
-  <arg unless="$(arg use_opencv3)"
+  <arg if="$(eval use_opencv3 and not use_opencv3_1 and not use_opencv3_2 and not use_opencv3_3 and not use_opencv4)"
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+  <!-- if all use_opencv* variable is false, then use /usr/share/opencv -->
+  <arg unless="$(eval use_opencv3 or use_opencv3_1 or use_opencv3_2 or use_opencv3_3 or use_opencv4)"
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg unless="$(eval use_opencv3 or use_opencv3_1 or use_opencv3_2 or use_opencv3_3 or use_opencv4)"
        name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
 
   <!-- face_detection.cpp -->

src/nodelet/face_recognition_nodelet.cpp

@@ -89,6 +89,7 @@ namespace filesystem3
 namespace filesystem
 {
 #endif
+#if BOOST_VERSION < 108300
 template <>
 path& path::append<typename path::iterator>(typename path::iterator lhs, typename path::iterator rhs,
                                             const codecvt_type& cvt)
@@ -97,9 +98,18 @@ path& path::append<typename path::iterator>(typename path::iterator lhs, typenam
     *this /= *lhs;
   return *this;
 }
+#endif
 path user_expanded_path(const path& p)
 {
+#if BOOST_VERSION < 108300
   path::const_iterator it(p.begin());
+#else
+  if (p.size() < 2)
+    return p;
+
+  auto it = p.begin();
+  // Replace the tilda with the home directory
+#endif
   std::string user_dir = (*it).string();
   if (user_dir.length() == 0 || user_dir[0] != '~')
     return p;
@@ -121,8 +131,19 @@ path user_expanded_path(const path& p)
       return p;
     homedir = pw->pw_dir;
   }
+
+  // Append the rest of path
   ret = path(std::string(homedir));
+#if BOOST_VERSION < 108300
   return ret.append(++it, p.end(), path::codecvt());
+#else
+  ++it;
+  for (; it != p.end(); ++it)
+  {
+    ret /= *it;
+  }
+  return ret;
+#endif
 }
 }  // namespace filesystem
 }  // namespace boost

test/CMakeLists.txt

@@ -80,9 +80,12 @@ elseif(OpenCV_VERSION VERSION_LESS "3.2")
 elseif(OpenCV_VERSION VERSION_LESS "3.3")
   add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
   add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
-else()
+elseif(OpenCV_VERSION VERSION_LESS "3.4")
   add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
   add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
+else()
+  add_rostest(test-face_detection.test ARGS gui:=false use_opencv4:=true)
+  add_rostest(test-face_recognition.test ARGS gui:=false use_opencv4:=true)
 endif()
 add_rostest(test-goodfeature_track.test ARGS gui:=false)
 add_rostest(test-corner_harris.test ARGS gui:=false)