jalessio · Jan 24, 2025 · Feb 5, 2025 · Feb 5, 2025 · Feb 5, 2025 · Feb 6, 2025
diff --git a/.github/workflows/deploy.yaml b/.github/workflows/deploy.yaml
@@ -0,0 +1,16 @@
+---
+name: Deploy to Galaxy
+
+on:
+  - push
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+      - name: galaxy
+        uses: robertdebock/galaxy-action@1.2.0
+        with:
+          galaxy_api_key: ${{ secrets.galaxy_api_key }}
diff --git a/.gitignore b/.gitignore
diff --git a/.kitchen.yml b/.kitchen.yml
diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -1,10 +1,8 @@
 # Ansible Role: ROS
 
-Ansible Galaxy: [jalessio.ROS](https://galaxy.ansible.com/list#/roles/2832)
+Ansible Galaxy: [ctu_vras.ros](https://galaxy.ansible.com/ui/standalone/roles/ctu_vras/ros/)
 
-[![Build Status](https://travis-ci.org/jalessio/ansible-role-ros.svg?branch=master)](https://travis-ci.org/jalessio/ansible-role-ros)
-
-Installs the Robot Operating System (ROS) on Ubuntu linux servers.
+Installs the Robot Operating System (ROS) on Ubuntu linux servers. It supports both ROS 1 and ROS 2 distros.
 
 ## Requirements
 
@@ -14,10 +12,13 @@ None.
 
 Available variables are listed below, along with default values (see `defaults/main.yml`):
 
-    ros_release: "indigo"
+    ros_release: Defaults to the default ROS(2) version for the Ubuntu version. If no default is found, defaults to 'noetic'
+    ros_version: Defaults to "1" for ROS 1 distros and "2" for ROS 2 distros. You should not change this value.
     ros_package: "ros-base"
-    ros_apt_uri: "http://packages.ros.org/ros/ubuntu"
+    ros_apt_uri: "http://packages.ros.org/ros/ubuntu" for ROS 1 and "http://packages.ros.org/ros2/ubuntu" for ROS 2
     ros_apt_key: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
+    ros_apt_key_filename: "/usr/share/keyrings/ros-archive-keyring.gpg"
+    ros_apt_repo_filename: For ROS 1 distros, defaults to 'ros-latest'; for ROS 2 distros, defaults to 'ros2'
 
 ## Dependencies
 
@@ -27,19 +28,12 @@ None.
 
     - hosts: server
       roles:
-        - { role: jalessio.ros }
-
-## Testing
-
-This role is tested:
-
-* locally with [Test Kitchen](http://kitchen.ci/) using the [kitchen-ansible plugin](https://github.com/neillturner/kitchen-ansible) and [Serverspec](http://serverspec.org/). The .kitchen.yml file specifies tests for installing ROS Indigo on Ubuntu 14.04, ROS Hydro on Ubuntu 12.04, and and ROS Groovy on Ubuntu 12.04.
-* automatically via Travis CI at [https://travis-ci.org/jalessio/ansible-role-ros/](https://travis-ci.org/jalessio/ansible-role-ros/). Travis CI currently only tests installtion of ROS Groovy on Ubuntu 12.04 (since that's all Travis CI currently supports).
+        - { role: ctu-vras.ros }
 
 ## License
 
-MIT / BSD
+BSD
 
 ## Author Information
 
-This role was created in 2015 by [Jamie Alessio](https://github.com/jalessio).
+This role was created in 2015 by [Jamie Alessio](https://github.com/jalessio) and updated in 2025 by [Martin Pecka](https://github.com/peci1).
diff --git a/defaults/main.yml b/defaults/main.yml
@@ -1,11 +1,43 @@
 ---
-# Currently supported ROS releases:
-# - "groovy" on Ubuntu "precise"
-# - "hydro"  on Ubuntu "precise"
-# - "indigo" on Ubuntu "trusty"
-ros_release: "indigo"
+# Translate ansible_architecture to dpkg --print-architecture
+__ros_deb_architecture_map:
+  "armv6l": "armhf"
+  "armv7l": "armhf"
+  "aarch64": "arm64"
+  "x86_64": "amd64"
+  "i386": "i386"
+ros_deb_architecture: "{{ __ros_deb_architecture_map[ansible_architecture] }}"
+
+__ros_default_releases:
+  Ubuntu:
+    "18.04": "melodic"
+    "20.04": "noetic"
+    "22.04": "humble"
+    "24.04": "jazzy"
+ros_release: "{{ __ros_default_releases.get(ansible_distribution, {}).get(ansible_distribution_version, 'noetic') }}"
+
+__ros1_releases:
+  - boxturtle
+  - cturtle
+  - diamondback
+  - electric
+  - fuerte
+  - groovy
+  - hydro
+  - indigo
+  - jade
+  - kinetic
+  - lunar
+  - melodic
+  - noetic
+  - obese
+ros_version: "{{ 1 if ros_release in __ros1_releases else 2 }}"
+ros_apt_repo_filename: "{{ 'ros-latest' if ros_version == '1' else 'ros2' }}"
+
 ros_package: "ros-base"
 
-# Optionally use a mirror for the ROS packages
-ros_apt_uri: "http://packages.ros.org/ros/ubuntu"
 ros_apt_key: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
+ros_apt_key_filename: "/usr/share/keyrings/ros-archive-keyring.gpg"
+
+# Optionally use a mirror for the ROS packages
+ros_apt_uri: "http://packages.ros.org/{{ 'ros' if ros_version == '1' else 'ros2' }}/ubuntu"
diff --git a/meta/main.yml b/meta/main.yml
@@ -2,16 +2,19 @@
 dependencies: []
 
 galaxy_info:
-  author: jalessio
+  author: peci1
   description: Robot Operating System (ROS) installation for Linux.
-  company: ""
-  license: "license (BSD, MIT)"
-  min_ansible_version: 1.4
+  namespace: ctu_vras
+  role_name: ros
+  company: "Czech Technical University in Prague"
+  license: "BSD"
+  min_ansible_version: "2.1"
   platforms:
-  - name: Ubuntu
-    versions:
-    - precise
-    - trusty
-  categories:
-    - development
-    - system
+    - name: Ubuntu
+      versions:
+        - all
+    - galaxy_tags:
+        - development
+        - system
+        - ros
+        - robotics
diff --git a/tasks/main.yml b/tasks/main.yml
@@ -1,15 +1,49 @@
 ---
-- name: Add ROS repository apt-key
-  apt_key:
-    url: "{{ ros_apt_key }}"
+
+- name: Install software-properties-common
+  ansible.builtin.apt:
+    pkg: "software-properties-common"
     state: present
+  when: ros_version == '2'
+
+- name: Add universe repo
+  ansible.builtin.command: add-apt-repository universe -y  # noqa: no-changed-when
+  when: ros_version == '2'
+
+- name: Check ros keyring age
+  ansible.builtin.find:
+    paths: "{{ ros_apt_key_filename | dirname }}"
+    pattern: "{{ ros_apt_key_filename | basename }}"
+    age: -4w
+    recurse: false
+  register: ros_key_age
 
+- name: Add ROS repository apt-key if not present or not updated in 1 month
+  ansible.builtin.get_url:
+    url: "{{ ros_apt_key }}"
+    dest: "{{ ros_apt_key_filename }}"
+    mode: '0644'
+    force: true
+  when: ros_key_age.files | length == 0
+
+# We do not use apt_repository here to manage the record because we want to overwrite the (potentially) existing file
+# instead of appending to it (to allow changing the repo mirrors if needed).
 - name: Add ROS repository
-  apt_repository:
-    repo: "deb {{ ros_apt_uri }} {{ ansible_lsb.codename }} main"
-    state: present
+  ansible.builtin.copy:
+    content: "deb [arch={{ ros_deb_architecture }} signed-by={{ ros_apt_key_filename }}] {{ ros_apt_uri }} {{ ansible_lsb.codename }} main"
+    dest: "/etc/apt/sources.list.d/{{ ros_apt_repo_filename }}.list"
+    mode: "u=rw,g=r,o=r"
+    backup: true
+  register: ros_apt_repo
+
+- name: Update packages after adding the ROS repo  # noqa: no-handler
+  ansible.builtin.apt:
+    update_cache: true
+    upgrade: dist
+    cache_valid_time: 0
+  when: ros_apt_repo.changed
 
-- name: Install desired ROS package
-  apt:
+- name: Install desired ROS packages
+  ansible.builtin.apt:
     pkg: "ros-{{ ros_release }}-{{ ros_package }}"
     state: present
diff --git a/test/integration/default.yml b/test/integration/default.yml
diff --git a/test/integration/groovy/serverspec/groovy_spec.rb b/test/integration/groovy/serverspec/groovy_spec.rb
diff --git a/test/integration/hydro/serverspec/hydro_spec.rb b/test/integration/hydro/serverspec/hydro_spec.rb
diff --git a/test/integration/indigo/serverspec/indigo_spec.rb b/test/integration/indigo/serverspec/indigo_spec.rb
diff --git a/test/inventory b/test/inventory
diff --git a/test/travis.yml b/test/travis.yml