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REP:153
Title:ROS distribution files
Author:Dirk Thomas <dthomas at osrfoundation.org>
Status:Final
Type:Standards Track
Content-Type:text/x-rst
Created:27-Oct-2018
Post-History:09-Nov-2018, 01-Oct-2019

Abstract

This REP updates the specification of the ROS distribution files facilitated in the building, packaging, testing and documenting process.

The intention is to annotate a ROS distribution with more information, such as whether the distribution should use ROS 1 or ROS 2 semantics, to avoid the need to externally define and update these metadata.

This REP is an extension to the file format defined in REP 143[1]_. It currently does not repeat the content of REP 143 but only states the differences.

Motivation

For the following use cases additional metadata is currently necessary:

  1. The ROS buildfarm has to distinguish ROS 1 distributions from ROS 2 distributions because they require different dependencies to build a workspace. E.g. for ROS 1 workspaces catkin needs to be installed - even for plain CMake packages - since it provides the workspace level setup files. For ROS 2 the package ros_workspace is needed since it provides the setup files for the workspace and therefore the environment necessary to find resources.
  2. The ROS wiki shows the list of currently active ROS distributions. Since the rosdistro contains all ROS distros - EOLed ones as well as upcoming distributions before their release date.
  3. A ROS distribution uses either Python 2 or Python 3. When a package is bloomed the rosdep keys are mapped to Debian package names and depending on the targeted Python version the conditional dependencies need to be evaluated.

In all cases the missing metadata is currently being hard coded in the source code and needs to be updated with every new ROS release. Therefore this REP aims to add the necessary metadata about a ROS distribution into the rosdistro instead.

Specification

Index file

  • distributions

    • distribution:

      • distribution_status: an optional string describing the status of a ROS distribution. For the use case 2. the semantic of the following values is defined:
        • prerelease: An upcoming distribution which hasn't been released yet
        • active: A distribution which has been released and is actively being supported
        • end-of-life: A distribution which has reached its end of life
      • distribution_type: an optional string describing the type of the ROS distribution. For use case 1. the values ros1 and ros2 will be used to distinguish the major ROS version.
      • python_version: an optional integer describing the major version of Python of the ROS distribution.

      As of version 4 unknown keys should be ignored (instead of resulting in an error). This will allow future additions in a backward compatible way without the need to bump the version of the file.

  • version: version number, this REP describes version 4 (instead of version 3 described in REP 143 [1], version 2 described in REP 141 [2] and version 1 described in REP 137 [3])

Reference implementation

This REP is to be implemented in version 0.7 of the Python package rosdistro. It will serve as a reference implementation for this REP. A draft implementation can be found in [4].

Compatibility considerations

The draft implementation of rosdistro is able to parse multiple index format versions: 2, 3 as well as 4.

If the version of the existing index.yaml file would be bumped that would require every user to update to the latest version of the Python package rosdistro. While generating some friction it is especially a problem on some systems (e.g. Debian) which might not provide a newer version in stable distributions.

Therefore the existing index file isn't being changed but a sibling file named index-v4.yaml is being added. The file has the same content except that is uses version 4 as specified in this document and includes the additional metadata fields.

To make use of the new index file the new version of the Python package will update the default URL to point to the v4 file.

rosdistro version 0.7.5 or newer is necessary to access the python_version key. Older versions of rosdistro will simply ignore the key in the yaml file and not expose it through the API.

This provides a smooth transition for all users: users using the old version of the Python package can continue to use it as is, users updating to the newer version will benefit from the additional metadata. Python code using the rosdistro API can easily check if the metadata is present and if yes use it. If desired other Python packages can explicily depend on the newer version to ensure the v4 index is being used.

bloom

Beside using the rosdistro API bloom also includes an explicit check for the version of the index file [5]. Therefore a new patch release of bloom is required to also support the new version 4 [6].