Migrate to ROS2 Humble with ROS Action support (#27)

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# PR Details
## Description
This PR brings our fork up to date with the ros2 repo that allows the
ros1_bridge to build with all the autoware and carma messages.
This PR also merges ROS action support from here
https://github.com/smith-doug/ros1_bridge/tree/action_bridge_humble
This PR also updates all github action versions and removes
`required-ros-distributions: "noetic rolling"` which is intended to
install the ROS versions from distribution because ROS1 noetic is not
available on 22.04 anymore. By removing it, the `setup-ros` action
installs it from source.
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## Related GitHub Issue
NA
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issues or Jira Keys -->
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issue first -->
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specific to this fix -->
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## Related Jira Key
[ARC-156](https://usdot-carma.atlassian.net/browse/ARC-156)
<!-- e.g. CAR-123 -->

## Motivation and Context
Upgrade to ROS2 Humble
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Built using dockerhub using carma-msgs Dockerifle in
usdot-fhwa-stol/carma-msgs#248
And tested in cdasim xil carma cloud use case 
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## Types of changes

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the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [X] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
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here to help! -->

- [X] I have added any new packages to the sonar-scanner.properties file
- [X] My change requires a change to the documentation.
- [X] I have updated the documentation accordingly.
- [X] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [X] I have added tests to cover my changes.
- [X] All new and existing tests passed.


[ARC-156]:
https://usdot-carma.atlassian.net/browse/ARC-156?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

---------

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
Signed-off-by: Marco Bassa <marco@robotcloud.eu>
Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Michael Carroll <michael@openrobotics.org>
Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: quarkytale <dharini@openrobotics.org>
Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
Signed-off-by: Derek King <derek.king@zebra.com>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Nicholas Sims <nicholas.d.sims@gmail.com>
Signed-off-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>
Signed-off-by: Victor Lopez <victor.lopez@pal-robotics.com>
Signed-off-by: Olivier Kermorgant <olivier_kermorgant@yahoo.fr>
Signed-off-by: Douglas Smith <douglas.smith@swri.org>
Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: Jorge Perez <jjperez@ekumenlabs.com>
Co-authored-by: Marco Bassa <bassamarco91@gmail.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Cem Karan <ckaran@users.noreply.github.com>
Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: methylDragon <methylDragon@gmail.com>
Co-authored-by: quarkytale <dharini@openrobotics.org>
Co-authored-by: xlla <xlla@users.noreply.github.com>
Co-authored-by: Loy van Beek <LoyVanBeek@users.noreply.github.com>
Co-authored-by: Andrej Orsula <orsula.andrej@gmail.com>
Co-authored-by: Derek <derek.king@zebra.com>
Co-authored-by: Audrow Nash <audrow@openrobotics.org>
Co-authored-by: Nick Sims <n.sims@unsw.edu.au>
Co-authored-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>
Co-authored-by: Victor Lopez <victor.lopez@pal-robotics.com>
Co-authored-by: Victor Lopez <3469405+v-lopez@users.noreply.github.com>
Co-authored-by: Olivier Kermorgant <olivier_kermorgant@yahoo.fr>
Co-authored-by: Douglas Smith <douglas.smith@swri.org>
Co-authored-by: Felipe Inostroza <pepeinostroza@gmail.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

.github/workflows/main.yml

@@ -6,14 +6,11 @@ jobs:
   ros1_bridge:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@v0.2
-        with:
-          required-ros-distributions: "noetic rolling"
+      - uses: actions/checkout@v3.1.0
+      - uses: ros-tooling/setup-ros@v0.6
       - name: Build and test ros1-bridge
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: ros1_bridge
           target-ros1-distro: noetic
-          target-ros2-distro: rolling
-
+          target-ros2-distro: humble

.gitignore

@@ -1 +1,32 @@
+
+# Python Caching
 __pycache__
+
+# ROS2 Build Folders
+build/
+_build/
+log/
+install/
+
+# Editors
+.vscode
+.idea
+.#*
+.project
+.cproject
+
+*~ 
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package ros1_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.10.3 (2022-03-29)
+-------------------
+* Cleanup of README.md (`#342 <https://github.com/ros2/ros1_bridge/issues/342>`_)
+* Parametrizing service execution timeout (`#340 <https://github.com/ros2/ros1_bridge/issues/340>`_)
+* Fix cpplint error (`#341 <https://github.com/ros2/ros1_bridge/issues/341>`_)
+* Update package maintainers (`#335 <https://github.com/ros2/ros1_bridge/issues/335>`_)
+* Contributors: Cem Karan, Geoffrey Biggs, Jorge Perez, Marco Bassa, Tim Clephas, Tomoya Fujita
+
 0.10.2 (2021-11-05)
 -------------------
 * Example for `parameter_bridge` (`#330 <https://github.com/ros2/ros1_bridge/issues/330>`_)

CMakeLists.txt

@@ -10,13 +10,21 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
+
+set(ACTION_GOAL_RESPONSE_CB_CONST_list "humble;iron")
+if("$ENV{ROS_DISTRO}" IN_LIST ACTION_GOAL_RESPONSE_CB_CONST_list)
+    #set(ACTION_GOAL_RESPONSE_CB_CONST ON)
+    add_definitions("-DACTION_GOAL_RESPONSE_CB_CONST")
+    message("Using ACTION_GOAL_RESPONSE_CB_CONST")
+endif()
+
 find_package(rmw REQUIRED)
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(xmlrpcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
 
 # find ROS 1 packages
 set(cmake_extras_files cmake/find_ros1_package.cmake cmake/find_ros1_interface_packages.cmake)
@@ -32,7 +40,10 @@ endif()
 
 find_ros1_package(roscpp)
 if(NOT ros1_roscpp_FOUND)
-  message(WARNING "Failed to find ROS 1 roscpp, skipping...")
+  if(NOT ROS1_PACKAGES_UNAVAILABLE)
+    # Only warn if ROS1 packages were expected to be available
+    message(WARNING "Failed to find ROS 1 roscpp, skipping...")
+  endif()
   # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
   ament_package(
     CONFIG_EXTRAS ${cmake_extras_files}
@@ -41,6 +52,11 @@ if(NOT ros1_roscpp_FOUND)
 endif()
 
 find_ros1_package(std_msgs REQUIRED)
+find_ros1_package(actionlib REQUIRED)
+
+# Dependency that we should only look for if ROS 1 is installed (it's not present on a ROS 2
+# system; see https://github.com/ros2/ros1_bridge/pull/331#issuecomment-1188111510)
+find_package(xmlrpcpp REQUIRED)
 
 # find ROS 1 packages with messages / services
 include(cmake/find_ros1_interface_packages.cmake)
@@ -74,6 +90,42 @@ if(BUILD_TESTING)
     endif()
     set(TEST_ROS1_BRIDGE TRUE)
   endif()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(sensor_msgs REQUIRED)
+  find_ros1_package(geometry_msgs)
+  find_ros1_package(std_msgs)
+  find_ros1_package(sensor_msgs)
+  if(ros1_geometry_msgs_FOUND AND ros1_sensor_msgs_FOUND AND ros1_std_msgs_FOUND)
+    ament_add_gtest(test_convert_generic test/test_convert_generic.cpp)
+    ament_target_dependencies(test_convert_generic
+      "geometry_msgs"
+      "rclcpp"
+      "ros1_roscpp"
+      "ros1_sensor_msgs"
+      "ros1_std_msgs"
+      "ros1_geometry_msgs"
+      "sensor_msgs"
+      "std_msgs"
+    )
+    target_link_libraries(test_convert_generic ${PROJECT_NAME})
+
+    ament_add_gtest(test_ros2_to_ros1_serialization test/test_ros2_to_ros1_serialization.cpp)
+    ament_target_dependencies(test_ros2_to_ros1_serialization
+      "geometry_msgs"
+      "rclcpp"
+      "ros1_roscpp"
+      "ros1_sensor_msgs"
+      "ros1_std_msgs"
+      "ros1_geometry_msgs"
+      "sensor_msgs"
+      "std_msgs"
+    )
+    target_link_libraries(test_ros2_to_ros1_serialization ${PROJECT_NAME})
+  endif()
+
 endif()
 
 ament_export_include_directories(include)
@@ -104,7 +156,7 @@ foreach(package_name ${ros2_interface_packages})
       file(TO_CMAKE_PATH "${interface_file}" interface_name)
       get_filename_component(interface_basename "${interface_name}" NAME_WE)
       # skipping actions and request and response messages of services
-      if(NOT "${interface_name}" MATCHES "^(msg|srv)/" OR "${interface_basename}" MATCHES "_(Request|Response)$")
+      if(NOT "${interface_name}" MATCHES "^(msg|srv|action)/" OR "${interface_basename}" MATCHES "_(Request|Response)$")
         continue()
       endif()
       string(REPLACE "/" "__" interface_name "${interface_name}")
@@ -184,6 +236,7 @@ ament_target_dependencies(${PROJECT_NAME}
   ${prefixed_ros1_message_packages}
   ${ros2_interface_packages}
   "rclcpp"
+  "rclcpp_action"
   "ros1_roscpp"
   "ros1_std_msgs")
 
@@ -199,6 +252,13 @@ custom_executable(static_bridge
 target_link_libraries(static_bridge
   ${PROJECT_NAME})
 
+custom_executable(action_bridge
+  "src/action_bridge.cpp"
+  ROS1_DEPENDENCIES
+  TARGET_DEPENDENCIES ${ros2_interface_packages})
+target_link_libraries(action_bridge
+  ${PROJECT_NAME})
+
 custom_executable(parameter_bridge
   "src/parameter_bridge.cpp"
   ROS1_DEPENDENCIES