galactic: 1st version

7 files changed, 188 insertions, 64 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 3ace635e5a82..af12438aacbe 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,20 +1,19 @@
-pkgbase = ros2-foxy
+pkgbase = ros2-galactic
 	pkgdesc = A set of software libraries and tools for building robot applications
-	pkgver = 2020.12.11
+	pkgver = 2021.05.23
 	pkgrel = 3
-	url = https://docs.ros.org/en/foxy/
-	install = ros2-foxy.install
+	url = https://docs.ros.org/en/galactic/
+	install = ros2-galactic.install
 	arch = any
 	license = Apache
 	depends = ros2-arch-deps
 	depends = gmock
 	depends = sip4
-	source = ros2::git+https://github.com/ros2/ros2#tag=release-foxy-20201211
+	source = ros2::git+https://github.com/ros2/ros2#tag=release-galactic-20210523
+	source = google_benchmark_vendor.patch
 	source = mimick_vendor.patch
-	source = yaml_cpp_vendor.patch
 	sha256sums = SKIP
-	sha256sums = SKIP
-	sha256sums = SKIP
-
-pkgname = ros2-foxy
+	sha256sums = 609a5260736192608582c0f0a0fd4da09a9185d95d452a92d9527af38d720f6a
+	sha256sums = 9904000aa5f63e9aa600cb4a07b0caef48444f1dd6179a650242c0634cf5051e
 
+pkgname = ros2-galactic
diff --git a/.gitignore b/.gitignore
index 72e8ffc0db8a..4b0d3083f0c9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,14 @@
-*
+*.tar
+*.tar.*
+*.jar
+*.exe
+*.msi
+*.zip
+*.tgz
+*.log
+*.log.*
+*.sig
+
+pkg/
+src/
+ros2/
diff --git a/PKGBUILD b/PKGBUILD
index a66211ba6867..c2b64a6fd850 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -2,62 +2,62 @@
 # Acknowledgment: This work is hugely based on `ros2-arch-deps` AUR
 # package, maintained by T. Borgert.
 
-pkgname=ros2-foxy
-pkgver=2020.12.11
+pkgname=ros2-galactic
+pkgver=2021.05.23
 pkgrel=3
 pkgdesc="A set of software libraries and tools for building robot applications"
-url="https://docs.ros.org/en/foxy/"
+url="https://docs.ros.org/en/galactic/"
 arch=('any')
 license=('Apache')
-depends=('ros2-arch-deps'
-         'gmock'
-         'sip4')
-source=("ros2::git+https://github.com/ros2/ros2#tag=release-foxy-20201211"
-        "mimick_vendor.patch"
-        "yaml_cpp_vendor.patch")
-sha256sums=('SKIP'
-            'SKIP'
-            'SKIP')
-install=ros2-foxy.install
+depends=(
+	'ros2-arch-deps'
+	'gmock'
+	'sip4'
+)
+source=(
+	"ros2::git+https://github.com/ros2/ros2#tag=release-galactic-20210523"
+	"google_benchmark_vendor.patch"
+	"mimick_vendor.patch"
+)
+sha256sums=(
+	'SKIP'
+	"609a5260736192608582c0f0a0fd4da09a9185d95d452a92d9527af38d720f6a"
+	"9904000aa5f63e9aa600cb4a07b0caef48444f1dd6179a650242c0634cf5051e"
+)
+install=ros2-galactic.install
 
 prepare() {
-    # Check locale
-    locale | grep LANG | grep UTF-8
-    if [[ $? -ne 0 ]]; then
-        printf "Locale must support UTF-8. See https://wiki.archlinux.org/index.php/locale
-        or https://wiki.archlinux.org/index.php/locale ."
-        exit 1
-    fi
+	# Check locale
+	locale | grep LANG | grep UTF-8
+	if [[ $? -ne 0 ]]; then
+		printf "Locale must support UTF-8. See https://wiki.archlinux.org/index.php/locale
+		or https://wiki.archlinux.org/index.php/locale ."
+		exit 1
+	fi
 
-    # Create required symlinks (see https://wiki.archlinux.org/index.php/ROS)
-    sudo mkdir -p /usr/share/sip
-    sudo ln -sf /usr/lib/python3.9/site-packages/PyQt5 /usr/share/sip/.
-    sudo ln -sf /usr/lib/python3.9/site-packages/PyQt5/bindings/* /usr/share/sip/PyQt5/.
+	# Clone the repos
+	mkdir -p $srcdir/ros2/src
+	vcs import $srcdir/ros2/src < $srcdir/ros2/ros2.repos
 
-    # Clone the repos
-    rm -rf $srcdir/ros2/src
-    mkdir -p $srcdir/ros2/src
-    vcs import $srcdir/ros2/src < $srcdir/ros2/ros2.repos
-
-    # Fix some issues in the code (TODO: Gradually move to upstream)
-    ## mimick_vendor:
-    git -C $srcdir/ros2/src/ros2/mimick_vendor cherry-pick c4f28e4f806fc3322d310bc3e93977df734ee733
-    patch --forward $srcdir/ros2/src/ros2/mimick_vendor/CMakeLists.txt mimick_vendor.patch
-    ## yaml_cpp_vendor:
-    patch --forward $srcdir/ros2/src/ros2/yaml_cpp_vendor/CMakeLists.txt yaml_cpp_vendor.patch
-    ## rcutils
-    git -C $srcdir/ros2/src/ros2/rcutils cherry-pick 618a9d94565ab844b9f40e0f5828ddbab2bcdad1
-    ## ros1_bridge
-    git -C $srcdir/ros2/src/ros2/ros1_bridge revert 81b7610568286ec7b390c64cf6207b362d0a6550 --no-edit
-    ## google_benchmark_vendor
-    git -C $srcdir/ros2/src/ament/google_benchmark_vendor checkout main
+	# Fix some issues in the code (TODO: Gradually move to upstream)
+	## mimick_vendor:
+	git -C $srcdir/ros2/src/ros2/mimick_vendor checkout .
+	git -C $srcdir/ros2/src/ros2/mimick_vendor apply $srcdir/mimick_vendor.patch
+	## google_benchmark_vendor
+	git -C $srcdir/ros2/src/ament/google_benchmark_vendor checkout .
+	git -C $srcdir/ros2/src/ament/google_benchmark_vendor apply $srcdir/google_benchmark_vendor.patch
+	## Eclipse iceoryx
+	git -C $srcdir/ros2/src/eclipse-iceoryx/iceoryx checkout release_1.0
+	## Eclipse CycloneDDS
+	git -C $srcdir/ros2/src/eclipse-cyclonedds/cyclonedds checkout 0.8.0beta6
+	git -C $srcdir/ros2/src/eclipse-cyclonedds/cyclonedds cherry-pick bdf270a588aae77d0f1a0f0070b53ad1388da61c
 }
 
 build() {
-    colcon build --merge-install
+	colcon build --merge-install
 }
 
 package() {
-    mkdir -p $pkgdir/opt/ros2/foxy
-    cp -r $srcdir/install/* $pkgdir/opt/ros2/foxy/
+	mkdir -p $pkgdir/opt/ros2/galactic
+	cp -r $srcdir/install/* $pkgdir/opt/ros2/galactic/
 }
diff --git a/google_benchmark_vendor.patch b/google_benchmark_vendor.patch
new file mode 100644
index 000000000000..d5800a6c6df0
--- /dev/null
+++ b/google_benchmark_vendor.patch
@@ -0,0 +1,101 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ec8f6e0..207dcab 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -12,7 +12,7 @@ endif()
+ macro(build_benchmark)
+   set(extra_cmake_args)
+ 
+-  set(GOOGLE_BENCHMARK_TARGET_VERSION "1.5.2")
++  set(GOOGLE_BENCHMARK_TARGET_VERSION "1.5.4")
+ 
+   if(DEFINED CMAKE_BUILD_TYPE)
+     list(APPEND extra_cmake_args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+@@ -66,9 +66,7 @@ macro(build_benchmark)
+       -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install
+       ${extra_cmake_args}
+     PATCH_COMMAND
+-      ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> git apply -p1 --ignore-space-change --whitespace=nowarn ${CMAKE_CURRENT_SOURCE_DIR}/thread_safety_attributes.patch &&
+-      ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> git apply -p1 --ignore-space-change --whitespace=nowarn ${CMAKE_CURRENT_SOURCE_DIR}/soversion.patch &&
+-      ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> git apply -p1 --ignore-space-change --whitespace=nowarn ${CMAKE_CURRENT_SOURCE_DIR}/shrink-tz-offset-size.patch
++      ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> git apply -p1 --ignore-space-change --whitespace=nowarn ${CMAKE_CURRENT_SOURCE_DIR}/thread_safety_attributes.patch
+   )
+ 
+   # The external project will install to the build folder, but we'll install that on make install.
+diff --git a/shrink-tz-offset-size.patch b/shrink-tz-offset-size.patch
+deleted file mode 100644
+index 9412e6a..0000000
+--- a/shrink-tz-offset-size.patch
++++ /dev/null
+@@ -1,52 +0,0 @@
+-From 07578d82e0a4f99bdd1546f4f6f1727109f9420d Mon Sep 17 00:00:00 2001
+-From: Chris Lalancette <clalancette@gmail.com>
+-Date: Fri, 9 Apr 2021 12:32:00 -0400
+-Subject: [PATCH] Shrink the tz_offset size to 41. (#1110)
+-MIME-Version: 1.0
+-Content-Type: text/plain; charset=UTF-8
+-Content-Transfer-Encoding: 8bit
+-
+-When building with gcc TSan on, and in Debug mode, we see a warning
+-like:
+-
+-benchmark/src/timers.cc: In function ‘std::string benchmark::LocalDateTimeString()’:
+-src/timers.cc:241:15: warning: ‘char* strncat(char*, const char*, size_t)’ output may be truncated copying 108 bytes from a string of length 127 [-Wstringop-truncation]
+-  241 |   std::strncat(storage, tz_offset, sizeof(storage) - timestamp_len - 1);
+-      |   ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+-
+-While this is essentially a false positive (we never expect
+-the number of bytes in tz_offset to be too large), the compiler can't
+-actually tell that.  Shrink the size of tz_offset to a smaller, but still safe
+-size to eliminate this warning.
+-
+-Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
+----
+- src/timers.cc | 12 ++++++++++--
+- 1 file changed, 10 insertions(+), 2 deletions(-)
+-
+-diff --git a/src/timers.cc b/src/timers.cc
+-index 1d3ab9a..af4767d 100644
+---- a/src/timers.cc
+-+++ b/src/timers.cc
+-@@ -190,8 +190,16 @@ std::string LocalDateTimeString() {
+-   std::size_t timestamp_len;
+-   long int offset_minutes;
+-   char tz_offset_sign = '+';
+--  // Long enough buffers to avoid format-overflow warnings
+--  char tz_offset[128];
+-+  // tz_offset is set in one of three ways:
+-+  // * strftime with %z - This either returns empty or the ISO 8601 time.  The maximum length an
+-+  //   ISO 8601 string can be is 7 (e.g. -03:30, plus trailing zero).
+-+  // * snprintf with %c%02li:%02li - The maximum length is 41 (one for %c, up to 19 for %02li,
+-+  //   one for :, up to 19 %02li, plus trailing zero).
+-+  // * A fixed string of "-00:00".  The maximum length is 7 (-00:00, plus trailing zero).
+-+  //
+-+  // Thus, the maximum size this needs to be is 41.
+-+  char tz_offset[41];
+-+  // Long enough buffer to avoid format-overflow warnings
+-   char storage[128];
+- 
+- #if defined(BENCHMARK_OS_WINDOWS)
+--- 
+-2.26.3
+-
+diff --git a/soversion.patch b/soversion.patch
+deleted file mode 100644
+index 7255fb3..0000000
+--- a/soversion.patch
++++ /dev/null
+@@ -1,13 +0,0 @@
+-diff --git a/CMakeLists.txt b/CMakeLists.txt
+-index db0a6bfb..26ccf1a5 100644
+---- a/CMakeLists.txt	2020-07-15 17:35:35.557813957 -0700
+-+++ b/CMakeLists.txt	2020-07-15 17:36:19.040227189 -0700
+-@@ -79,7 +79,7 @@
+- 
+- # Read the git tags to determine the project version
+- include(GetGitVersion)
+--get_git_version(GIT_VERSION)
+-+#get_git_version(GIT_VERSION)
+- 
+- # Tell the user what versions we are using
+- string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" VERSION ${GIT_VERSION})
diff --git a/mimick_vendor.patch b/mimick_vendor.patch
index d86f3c8d48b5..f4bbf2fc4160 100644
--- a/mimick_vendor.patch
+++ b/mimick_vendor.patch
@@ -1,3 +1,13 @@
-10a11,12
->   list(APPEND cmake_configure_args -DCMAKE_C_FLAGS="-O2")
->   list(APPEND cmake_configure_args -DCMAKE_CXX_FLAGS="-O2")
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e4cf591..54e4852 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -8,6 +8,8 @@ macro(build_mimick)
+ 
+   set(cmake_commands)
+   set(cmake_configure_args -Wno-dev)
++  list(APPEND cmake_configure_args -DCMAKE_C_FLAGS="-O2")
++  list(APPEND cmake_configure_args -DCMAKE_CXX_FLAGS="-O2")
+   list(APPEND cmake_configure_args -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install)
+ 
+   if(WIN32)
diff --git a/ros2-foxy.install b/ros2-galactic.install
index e006f031f5e2..e57ab249713d 100644
--- a/ros2-foxy.install
+++ b/ros2-galactic.install
@@ -1,3 +1,10 @@
+pre_install() {
+    # Create required symlinks (see https://wiki.archlinux.org/index.php/ROS)
+    mkdir -p /usr/share/sip
+    ln -sf /usr/lib/python3.9/site-packages/PyQt5 /usr/share/sip/.
+    ln -sf /usr/lib/python3.9/site-packages/PyQt5/bindings/* /usr/share/sip/PyQt5/.
+}
+
 post_install() {
     printf "
     \e[33m\e[1mIMPORTANT NOTE:\e[0m
diff --git a/yaml_cpp_vendor.patch b/yaml_cpp_vendor.patch
deleted file mode 100644
index 64be3f331768..000000000000
--- a/yaml_cpp_vendor.patch
+++ /dev/null
@@ -1,6 +0,0 @@
-18,19c18,19
-<     list(APPEND YAML_C_FLAGS "-w")
-<     list(APPEND YAML_CXX_FLAGS "-std=c++14 -w")
----
->     set(YAML_C_FLAGS "${YAML_C_FLAGS} -w")
->     set(YAML_CXX_FLAGS "${YAML_CXX_FLAGS} -std=c++14 -w")