Initial ROS drake package and repository information

.entrypoint-cmake-make-with-dpkgbuildflags.sh

@@ -0,0 +1,9 @@
+#!/bin/bash -e
+
+. /opt/ros/rolling/setup.sh
+
+mkdir src/ros-drake-vendor/build
+cd src/ros-drake-vendor/build
+cmake .. -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_PREFIX_PATH=/opt/ros/rolling -DAMENT_PREFIX_PATH=/opt/ros/rolling -DCMAKE_INSTALL_PREFIX=/opt/ros/rolling -DCMAKE_BUILD_TYPE=None
+make -j1 || true
+exec "$@"

CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.10)
+project(drake CXX)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_vendor_package REQUIRED)
+
+ament_vendor(drake
+  VCS_URL https://github.com/RobotLocomotion/drake
+  VCS_VERSION v1.25.0
+  CMAKE_ARGS
+# At the moment, closed-source dependencies are disabled.
+    -DWITH_GUROBI:BOOL=OFF
+    -DWITH_MOSEK:BOOL=OFF 
+    -DWITH_SNOPT:BOOL=OFF
+# Drake should use the Ament version of these dependencies found by CMake,
+# not the Ubuntu version found in /usr/include.
+    -DWITH_USER_EIGEN:BOOL=ON
+    -DWITH_USER_FMT:BOOL=ON
+    -DWITH_USER_SPDLOG:BOOL=ON
+  PATCHES patches
+  GLOBAL_HOOK
+)
+
+ament_package()

Dockerfile.cmake_dpkg_flags

@@ -0,0 +1,49 @@
+FROM ubuntu:jammy
+LABEL maintainer="Jose Luis Rivero <[email protected]>"
+ARG DEBIAN_FRONTEND=noninteractive
+
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+# setup keys
+RUN set -eux; \
+       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
+       export GNUPGHOME="$(mktemp -d)"; \
+       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
+       mkdir -p /usr/share/keyrings; \
+       gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; \
+       gpgconf --kill all; \
+       rm -rf "$GNUPGHOME"
+# setup sources.list
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+ENV ROS_DISTRO rolling
+
+RUN apt-get update && apt-get install -y \
+  build-essential \
+  python3-rosdep \
+  python3-colcon-common-extensions \
+  vim 
+
+RUN mkdir -p /tmp/ws/src/ros-drake-vendor
+WORKDIR /tmp/ws/src
+COPY . ros-drake-vendor/
+
+RUN  rosdep init \
+  && rosdep update \
+  && rosdep install --from-paths . --ignore-src -r -y -i --rosdistro ${ROS_DISTRO}
+
+WORKDIR /tmp/ws
+COPY .entrypoint-cmake-make-with-dpkgbuildflags.sh ./entrypoint-cmake-make-with-dpkgbuildflags.sh
+ENTRYPOINT [ "./entrypoint-cmake-make-with-dpkgbuildflags.sh"]

README.md

@@ -1,2 +1,28 @@
-# ros-drake-vendor
-Maintainer scripts that package Drake in the ROS build farm
+# Drake installation for ROS environments
+
+The repository contains the sources for installing the
+[Drake toolbox](http://drake.mit.edu) inside the [ROS](http://ros.org)
+ecosystem. These sources are ready to be installed using the ROS
+Buildfarm or any other ROS related build process.
+
+These sources specifically install the Drake Toolbox software. It's important
+to note that this is distinct from other code installations that may involve
+ROS helpers or ROS wrappers for Drake.
+
+# Installation process
+
+The repository defines a ROS package named drake, which facilitates the
+download of the Drake sources from its official repository. Subsequently, it
+invokes the CMake build system within these sources to facilitate the
+generation of a system installation for the toolbox.
+
+# Docker testing
+
+The `Dockerfile.cmake_dpkg_flags` can be used to simulate the build that the
+ros_buildfarm will perform using calling the CMake building system with the
+dpkg-buildflags typically used in the ROS build environment. To test it:
+
+```
+docker build -f Dockefile.cmake_dpkg_flags -t ros_drake_vendor_cmake .
+docker run -i -t ros_drake_vendor_cmake /bin/bash
+```

package.xml

@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>drake</name>
+  <version>1.24.0</version>
+  <description>
+    The drake package provides a ROS installation for the Drake project:
+    https://drake.mit.edu/. The package uses ament_vendor to
+    download and build a given Drake version.
+  </description>
+  <maintainer email="[email protected]">Drake Users</maintainer>
+  <license>BSD</license>
+
+  <!--
+      Missing Ubuntu dependencies in rosdistro from the list:
+      https://github.com/RobotLocomotion/drake/blob/v1.24.0/setup/ubuntu/source_distribution/packages-jammy.txt
+
+   - libg-dev (installed indirectly by opengl)
+   - libglx-dev (installed indirectly by qtbase5-dev)
+   - libmumps-seq-dev (installed indirectly, dependecy of coinor-libipopt-dev)
+   - patch (core dependency for any jammy system)
+   - python3-all-dev (equivalent to python3-dev)
+      Deb packages depends:
+        - python3 (python3-dev rosdep)
+        - libpython3-all-dev (python3-dev rosdep via libpython3-dev dep)
+        - python3-all:
+          Deb packages depends:
+           - python3 (python3-dev rosdep)
+           - python3-distutils (python3-dev rosdep)
+        - python3-dev (python3-dev rosdep)
+        - python3.8-dev (python3-dev rosdep)
+  -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
+  <buildtool_depend>clang</buildtool_depend>
+  <buildtool_depend>file</buildtool_depend>
+  <buildtool_depend>gfortran</buildtool_depend>
+  <buildtool_depend>git</buildtool_depend>
+  <buildtool_depend>nasm</buildtool_depend>
+  <buildtool_depend>opencl-headers</buildtool_depend>
+  <buildtool_depend>patchelf</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
+  <depend>coinor-libipopt-dev</depend>
+  <depend>java</depend>
+  <depend>libclang-dev</depend>
+  <depend>libglib-dev</depend>
+  <depend>liblapack-dev</depend>
+  <depend>libx11-dev</depend>
+  <depend>ocl-icd-opencl-dev</depend>
+  <depend>opengl</depend>
+  <depend>python3-dev</depend>
+  <depend>python3-distutils</depend>
+  <depend>python3-matplotlib</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>zlib</depend>
+  <!-- External dependencies supported by CMake  -->
+  <buildtool_depend>eigen</buildtool_depend>
+  <depend>fmt</depend>
+  <depend>spdlog</depend>
+</package>

patches/0001-use-internal-java.patch

@@ -0,0 +1,19 @@
+Description: Force the local build of libjchart2d-java
+  The libjchart2d-java package is not available on the rosdistro
+  registry. To workaround the problem, this patch force the
+  download and install of the java library.
+Origin: https://github.com/RobotLocomotion/ros-drake-vendor/issues/3
+
+diff --git a/tools/workspace/java.bzl b/tools/workspace/java.bzl
+index a6b8372772..e412bf1933 100644
+--- a/tools/workspace/java.bzl
++++ b/tools/workspace/java.bzl
+@@ -14,7 +14,7 @@ def _impl(repo_ctx):
+     build_content = """\
+ package(default_visibility = ["//visibility:public"])
+ """
+-    if os_result.target in repo_ctx.attr.local_os_targets:
++    if False:
+         is_local = True
+         filename = basename(repo_ctx.attr.local_jar)
+         repo_ctx.symlink(