Merge pull request #25 from ipa320/humble

Add Humble distro support

README.md

@@ -52,6 +52,7 @@ Please check the available examples for the supported distros:
 - [ROS1 melodic](melodic/README.md)
 - [ROS1 noetic](noetic/README.md)
 - [ROS2 foxy](foxy/README.md)
+- [ROS2 humble](humble/README.md)
 
 ToDo:
  - Extractor of interfaces types (msgs, srvs and actions)

foxy/Dockerfile

@@ -3,6 +3,7 @@ FROM ros:foxy
 ARG enable_ssh
 ARG path_to_scripts
 RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
 
 RUN apt-get update && apt upgrade -y && apt-get install -y \
     cppcheck \

haros_runner.sh

@@ -61,6 +61,16 @@ else
   echo "ROS installation not found"
 fi
 
+if [ -n $ROS_DISTRO ]
+then
+  if [[ $ROS_DISTRO == "humble" ]]
+  then
+    clang_version=14
+  else
+    clang_version=10
+  fi
+fi
+
 echo ""
 
 #tree ${5}
@@ -77,18 +87,18 @@ then
   then
     if [ "${2}" = "--all" ]
     then
-      python /ros_model_extractor.py --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --repo $model_repo -a>> extractor.log
+      python /ros_model_extractor.py --clang-version $clang_version --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --repo $model_repo -a>> extractor.log
     else
-      python /ros_model_extractor.py --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --repo $model_repo>> extractor.log
+      python /ros_model_extractor.py --clang-version $clang_version --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --repo $model_repo>> extractor.log
     fi
     #cat extractor.log
   elif [[ $PYTHON_VERSION == "3" ]]
   then
     if [ "${2}" = "--all" ]
     then
-      python3 /ros_model_extractor.py --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo -a >> extractor.log
+      python3 /ros_model_extractor.py --clang-version $clang_version --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo -a >> extractor.log
     else
-      python3 /ros_model_extractor.py --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo>> extractor.log
+      python3 /ros_model_extractor.py --clang-version $clang_version --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo>> extractor.log
     fi
     #cat extractor.log 
   else

humble/Dockerfile

@@ -0,0 +1,82 @@
+# Use an official Python runtime as a parent image
+FROM ros:humble
+ARG enable_ssh
+ARG path_to_scripts
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
+RUN apt-get update && apt upgrade -y && apt-get install -y \
+    cppcheck \
+    cccc \
+    clang-14 \
+    git \
+    libclang-14-dev \
+    python3-pip \
+    llvm-14-dev \
+    wget \
+    netbase \
+    libmagic-dev \
+    python-is-python3
+
+RUN if [ $enable_ssh ] ; then apt-get install -y openssh-server ; fi
+
+ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/usr/lib/llvm-14/lib
+
+RUN pip3 install --upgrade pip
+RUN pip3 install -Iv clang==14.0
+RUN pip3 install -e git+https://github.com/timtadh/pyflwor.git#egg=pyflwor
+RUN pip3 install -e git+https://github.com/ipa320/ros_model_parser.git#egg=ros_model_parser
+RUN pip3 install -e git+https://github.com/git-afsantos/bonsai#egg=bonsai-code
+RUN pip3 install -e git+https://github.com/ipa-nhg/haros@FixPythonExtractTopic#egg=haros
+# RUN pip3 install -e git+https://github.com/git-afsantos/haros#egg=haros
+
+RUN apt-get update && apt-get install -y ros-humble-desktop && apt upgrade -y
+
+SHELL ["bash", "-c"]
+
+RUN useradd -rm -d /home/extractor/  -u 1001 extractor
+#RUN useradd -rm -d /home/extractor/ -s /bin/bash -g extractor -G sudo root -u 1001 extractor
+RUN usermod -a -G sudo extractor
+RUN usermod -a -G root extractor
+RUN echo "extractor ALL=(ALL:ALL) NOPASSWD: ALL" | sudo tee /etc/sudoers.d/extractor
+USER extractor
+RUN mkdir -p /home/extractor/ws/src
+
+RUN mkdir -p /home/extractor/results
+RUN chown extractor:extractor /home/extractor/results
+USER extractor
+WORKDIR /home/extractor
+
+# SSH CONFIGURATION
+RUN if [ $enable_ssh ] ; then mkdir -p /home/extractor/.ssh/ && \
+    chmod 0700 /home/extractor/.ssh  && \
+    touch /home/extractor/.ssh/authorized_keys && \
+    chmod 600 /home/extractor/.ssh/authorized_keys && \
+    touch /home/extractor/.ssh/config && \
+    chmod 600 /home/extractor/.ssh/config ; fi
+
+COPY --chown=extractor:root ssh_config/ /keys/
+RUN if [ $enable_ssh ] ; then  cat /keys/ssh_key.pub >> /home/extractor/.ssh/authorized_keys ; fi
+RUN if [ $enable_ssh ] ; then  cat /keys/config >> /home/extractor/.ssh/config ; fi
+####
+USER extractor
+
+ENV CMAKE_CXX_COMPILER /usr/lib/llvm-14/bin/clang++
+RUN source /opt/ros/$ROS_DISTRO/setup.bash;\
+ cd /home/extractor/ws;\
+ colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ;\
+ source /home/extractor/ws/install/setup.bash; \
+ haros init
+
+ENV PYTHON_VERSION 3
+RUN echo 'source /home/extractor/ws/install/setup.bash' >> /home/extractor/.bashrc 
+
+#RUN echo "test"
+COPY ${path_to_scripts}messages_generator_runner.sh /
+COPY ${path_to_scripts}generate_messages_model_helper.sh /
+COPY ${path_to_scripts}haros_runner.sh /
+COPY ${path_to_scripts}ros_model_extractor.py /
+COPY ${path_to_scripts}test.sh /
+
+EXPOSE 4005
+#CMD sudo chown -R extractor:extractor /home/extractor/results

humble/README.md

@@ -0,0 +1,28 @@
+# Use the docker container to run the ros-model plugin for HAROS
+
+Install docker https://docs.docker.com/install/linux/docker-ce/ubuntu/
+
+Build the HAROS docker image, for your desired ROS distro version:
+```
+cd path-to-ros-model-extractors-repo
+[sudo] docker build --tag=haros_humble -f humble/Dockerfile .
+```
+
+Call the ros-model extractor plugin, remember you have to also clone the repository to be analysed:
+
+```
+[sudo] docker run -it haros_humble:latest /haros_runner.sh *package_name* *node_name* *type* *path_to_resulted_model* *workspace_path* "*github_repositoryA -b branch*" "*github_repositoryB*"...
+```
+
+For example:
+
+```
+[sudo] docker run -it haros_humble:latest /haros_runner.sh aruco_ros --all node . /home/extractor/ws "https://github.com/pal-robotics/aruco_ros"
+
+[sudo] docker run -it haros_humble:latest /haros_runner.sh turtlesim turtlesim_node node . /home/extractor/ws "https://github.com/ros/ros_tutorials -b humble"
+
+[sudo] docker run -it haros_humble:latest /haros_runner.sh test_pkg test_node node . /home/extractor/ws "https://github.com/ipa-nhg/test_ros2_code_extractor -b ros2Parameters"
+
+```
+
+

melodic/Dockerfile

@@ -1,9 +1,10 @@
 # Use an official Python runtime as a parent image
-FROM osrf/ros:melodic-desktop
+FROM ros:melodic
 ARG enable_ssh
 ARG path_to_scripts
 
 RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
 
 RUN apt-get update && apt upgrade -y && apt-get install -y \
     cppcheck \

noetic/Dockerfile

@@ -1,9 +1,10 @@
 # Use an official Python runtime as a parent image
-FROM osrf/ros:noetic-desktop
+FROM ros:noetic
 ARG enable_ssh
 ARG path_to_scripts
 
 RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
 
 RUN apt-get update && apt upgrade -y && apt-get install -y \
     cppcheck \

ros_model_extractor.py

@@ -40,11 +40,12 @@ class RosExtractor():
   def launch(self):
     self.parse_arg()
     ws = self.args.worspace_path
-
+    clang_version= self.args.clang_version
+
     #BONSAI PARSER
     parser = CppAstParser(workspace = ws)
-    parser.set_library_path("/usr/lib/llvm-10/lib")
-    parser.set_standard_includes("/usr/lib/llvm-10/lib/clang/10.0.0/include")
+    parser.set_library_path("/usr/lib/llvm-"+clang_version+"/lib")
+    parser.set_standard_includes("/usr/lib/llvm-"+clang_version+"/lib/clang/"+clang_version+".0.0/include")
     db_dir = os.path.join(ws, "build")
     if os.path.isfile(os.path.join(db_dir, "compile_commands.json")):
         parser.set_database(db_dir)
@@ -402,6 +403,7 @@ def parse_arg(self):
       parser.add_argument('--path-to-src', required=False, dest='path_to_src')
       parser.add_argument('--repo', required=False, dest='repo')
       parser.add_argument('-a', action='store_true')
+      parser.add_argument('--clang-version', required=True, dest='clang_version')
       self.args = parser.parse_args()