Add ROSEnv example

examples/tools/README.md

@@ -24,3 +24,7 @@
 
 - Build a [Bazel 6.x compatible project](bazel/bazeltoolchain/6_x/string_formatter/) using Conan and [fmt](https://fmt.dev/). [Docs](https://docs.conan.io/2/examples/tools/google/bazeltoolchain/build_simple_bazel_project.rst)
 - Build a [Bazel >= 7.1 compatible project](bazel/bazeltoolchain/7_x/string_formatter/) using Conan and [fmt](https://fmt.dev/). [Docs](https://docs.conan.io/2/examples/tools/google/bazeltoolchain/build_simple_bazel_7x_project.rst)
+
+### [tools.ros](ros)
+
+- Build [ROS packages inside their workspace](ros/rosenv/workspace/) using dependencies from Conan Center and consuming them also as transitive depdendencies.

examples/tools/ros/rosenv/ci_test_example.py

@@ -0,0 +1,34 @@
+import os
+import platform
+import subprocess
+
+from test.examples_tools import chdir, run
+
+test_dir_path = os.path.dirname(os.path.realpath(__file__))
+if platform.system() == "Windows":
+    test_dir_path = test_dir_path.replace("/", "\\")
+
+docker_command = f"docker run --rm -v {test_dir_path}:/mnt/local osrf/ros:humble-desktop bash -c \"cd mnt/local && ./docker_commands.sh\""
+
+run(docker_command)
+
+# try:
+#     # Setup the ROS environment
+#     run("source /opt/ros/humble/setup.bash")
+
+#     # Install the Conan dependencies of str_printer's package
+#     with chdir("workspace"):
+#         run("conan install str_printer/conanfile.txt --build=missing --output-folder install/conan")
+
+#         # Setup the environment to find Conan installed dependencies
+#         run("source install/conan/conanrosenv.sh")
+#         # Perform the build
+#         run("colcon build")
+
+#         # Setup the run environment
+#         run("source install/setup.bash")
+#         # Run the consumer
+#         run("ros2 run consumer main")
+# finally:
+#     # Remove all the bazel symlinks and clean its cache
+#     shutil.rmtree("workspace/install", ignore_errors=True)

examples/tools/ros/rosenv/docker_commands.sh

@@ -0,0 +1,25 @@
+
+# Install pip and Conan
+apt-get update && apt-get install -y python3 python3-pip
+python3 -m pip install conan
+
+# Setup the ROS environment
+. /opt/ros/humble/setup.bash
+
+# Setup Conan profile
+conan profile detect
+
+cd workspace
+# Install the Conan dependencies of Consumer's package
+conan install consumer/conanfile.txt --build=missing --output-folder install/conan
+
+# Setup the environment to find Conan installed dependencies
+. install/conan/conanrosenv.sh
+
+# Perform the build
+colcon build
+
+# Setup the run environment
+. install/setup.bash
+# Run the app
+ros2 run app main

examples/tools/ros/rosenv/workspace/consumer/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(consumer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(str_printer REQUIRED)
+
+add_executable(main src/main.cpp)
+
+target_include_directories(main PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/app>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(main PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(main str_printer)
+
+install(TARGETS main
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

examples/tools/ros/rosenv/workspace/consumer/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>consumer</name>
+  <version>0.0.0</version>
+  <description>Consumer application that prints a fancy string</description>
+  <maintainer email="danielm@jfrog.com">danimtb</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>str_printer</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/tools/ros/rosenv/workspace/consumer/src/main.cpp

@@ -0,0 +1,10 @@
+#include "str_printer/str_printer.h"
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  str_printer("Hi there! I am using fmt library fetched with Conan C/C++ Package Manager");
+  return 0;
+}

examples/tools/ros/rosenv/workspace/str_printer/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+project(str_printer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(fmt REQUIRED)  # Retrieved with Conan C/C++ Package Manager
+
+add_library(str_printer src/str_printer.cpp)
+
+target_include_directories(str_printer PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/str_printer>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(str_printer PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(str_printer fmt)
+
+ament_export_targets(str_printerTargets HAS_LIBRARY_TARGET)
+ament_export_dependencies(fmt)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS str_printer
+  EXPORT str_printerTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_package()

examples/tools/ros/rosenv/workspace/str_printer/conanfile.txt

@@ -0,0 +1,7 @@
+[requires]
+fmt/11.0.2
+
+[generators]
+CMakeDeps
+CMakeToolchain
+ROSEnv

examples/tools/ros/rosenv/workspace/str_printer/include/str_printer/str_printer.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <string>
+
+#ifdef WIN32
+  #define FN_EXPORT __declspec(dllexport) 
+#else
+  #define FN_EXPORT  
+#endif
+
+FN_EXPORT void str_printer(std::string);

examples/tools/ros/rosenv/workspace/str_printer/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>str_printer</name>
+  <version>0.0.0</version>
+  <description>Library that provides a function to print a fancy string using the fmt library fetched by Conan C/C++ Package Manager</description>
+  <maintainer email="danielm@jfrog.com">danimtb</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/tools/ros/rosenv/workspace/str_printer/src/str_printer.cpp

@@ -0,0 +1,11 @@
+#include <iostream>
+#include <string>
+
+#include "fmt/core.h"
+#include "fmt/color.h"
+
+#include "str_printer.h"
+
+void str_printer(std::string str) {
+    fmt::print(fmt::fg(fmt::color::gold) | fmt::emphasis::bold, "{}\n", str);
+}

test/examples_tools.py

@@ -44,7 +44,7 @@ def run(cmd, error=False):
     print("Running: {}".format(cmd))
     start_time = time.time()
 
-    process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=True, text=True)
+    process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=True, text=True, encoding='utf-8')
 
     output = ''