Add ROS workspace that will be used by our planned test suite

test/ws/flake.nix

@@ -0,0 +1,33 @@
+{
+  inputs = {
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs";  # IMPORTANT!!!
+  };
+  outputs = { self, nix-ros-overlay, nixpkgs }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system:
+      let
+        pkgs = import nixpkgs {
+          inherit system;
+          overlays = [ nix-ros-overlay.overlays.default ];
+        };
+      in {
+        devShells.default = pkgs.mkShell {
+          name = "Example project";
+          packages = [
+            pkgs.colcon
+            # ... other non-ROS packages
+            (with pkgs.rosPackages.humble; buildEnv {
+              paths = [
+                ros-core
+                ament-cmake-core
+                # ... other ROS packages
+              ];
+            })
+          ];
+        };
+      });
+  nixConfig = {
+    extra-substituters = [ "https://ros.cachix.org" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+  };
+}

test/ws/src/library/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.8)
+project(library)
+
+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(ament_cmake_ros REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_library(library src/library.cpp)
+add_library(library::library ALIAS library)
+target_compile_features(library PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(library PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(library PRIVATE "LIBRARY_BUILDING_LIBRARY")
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+install(
+  TARGETS library
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  "include/${PROJECT_NAME}"
+)
+ament_export_libraries(
+  library
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_package()

test/ws/src/library/include/library/library.hpp

@@ -0,0 +1,19 @@
+#ifndef LIBRARY__LIBRARY_HPP_
+#define LIBRARY__LIBRARY_HPP_
+
+#include "library/visibility_control.h"
+
+namespace library
+{
+
+class Library
+{
+public:
+  Library();
+
+  virtual ~Library();
+};
+
+}  // namespace library
+
+#endif  // LIBRARY__LIBRARY_HPP_

test/ws/src/library/include/library/visibility_control.h

@@ -0,0 +1,35 @@
+#ifndef LIBRARY__VISIBILITY_CONTROL_H_
+#define LIBRARY__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define LIBRARY_EXPORT __attribute__ ((dllexport))
+    #define LIBRARY_IMPORT __attribute__ ((dllimport))
+  #else
+    #define LIBRARY_EXPORT __declspec(dllexport)
+    #define LIBRARY_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef LIBRARY_BUILDING_LIBRARY
+    #define LIBRARY_PUBLIC LIBRARY_EXPORT
+  #else
+    #define LIBRARY_PUBLIC LIBRARY_IMPORT
+  #endif
+  #define LIBRARY_PUBLIC_TYPE LIBRARY_PUBLIC
+  #define LIBRARY_LOCAL
+#else
+  #define LIBRARY_EXPORT __attribute__ ((visibility("default")))
+  #define LIBRARY_IMPORT
+  #if __GNUC__ >= 4
+    #define LIBRARY_PUBLIC __attribute__ ((visibility("default")))
+    #define LIBRARY_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define LIBRARY_PUBLIC
+    #define LIBRARY_LOCAL
+  #endif
+  #define LIBRARY_PUBLIC_TYPE
+#endif
+
+#endif  // LIBRARY__VISIBILITY_CONTROL_H_

test/ws/src/library/package.xml

@@ -0,0 +1,19 @@
+<?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>library</name>
+  <version>0.0.0</version>
+  <description>Library for testing ros2nix</description>
+  <maintainer email="michal.sojka@cvut.cz">Michal Sojka</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <build_depend>zlib</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test/ws/src/library/src/library.cpp

@@ -0,0 +1,15 @@
+#include "library/library.hpp"
+#include "zlib.h"
+
+namespace library
+{
+
+Library::Library()
+{
+}
+
+Library::~Library()
+{
+}
+
+}  // namespace library

test/ws/src/ros_node/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_node)
+
+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(library REQUIRED)
+
+add_executable(node src/node.cpp)
+target_include_directories(node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  node
+  "library"
+)
+
+install(TARGETS node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

test/ws/src/ros_node/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>ros_node</name>
+  <version>0.0.0</version>
+  <description>ROS node for testing ros2nix</description>
+  <maintainer email="michal.sojka@cvut.cz">Michal Sojka</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>library</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test/ws/src/ros_node/src/node.cpp

@@ -0,0 +1,12 @@
+#include <cstdio>
+#include <library/library.hpp>
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+  library::Library dummy;
+
+  printf("hello world package package\n");
+  return 0;
+}