Add Jazzy support

.devcontainer/Dockerfile

@@ -8,6 +8,7 @@ SHELL ["/bin/bash", "-c"]
 # setup environment
 ENV LANG=C.UTF-8
 ENV LC_ALL=C.UTF-8
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
 
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \

.github/workflows/ci.yml

@@ -6,10 +6,6 @@ on:
     branches:
       - main
 
-env:
-  REGISTRY: ghcr.io
-  IMAGE_NAME: bdaiinstitute/proto2ros_humble
-
 defaults:
   run:
     shell: bash
@@ -29,61 +25,78 @@ jobs:
       - name: Lint sources
         uses: pre-commit/action@v3.0.0
   prepare_container:
-    name: Prepare Humble container for tests
+    name: Prepare proto2ros containers
     runs-on: ubuntu-22.04
     needs: lint
-    permissions:
-      contents: read
-      packages: write
-      # This is used to complete the identity challenge
-      # with sigstore/fulcio when running outside of PRs.
-      id-token: write
-    outputs:
-      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
+    strategy:
+      matrix:
+        rosdistro: [humble, jazzy]
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
 
       - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
         uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
 
-      - name: Log into registry ${{ env.REGISTRY }}
-        uses: docker/login-action@v3  # https://github.com/docker/login-action
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
       - name: Extract metadata (tags, labels) for Docker
         uses: docker/metadata-action@v5  # https://github.com/docker/metadata-action
         with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          images: ${{ github.repository }}_on_${{ matrix.rosdistro }}
+          tags: |
+            type=schedule
+            type=ref,event=branch
+            type=ref,event=tag
+            type=ref,event=pr
+            type=sha,format=long
         id: meta
 
-      - name: Build and push Docker image (may be cached)
+      - name: Build Docker image (may be cached)
         uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
         with:
           context: .
           file: .devcontainer/Dockerfile
-          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.rosdistro }}
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           cache-from: type=gha
           cache-to: type=gha,mode=max
+          outputs: type=docker,dest=/tmp/${{ matrix.rosdistro }}_docker_image.tar
+          push: false
+
+      - name: Upload Docker image as artifact
+        uses: actions/upload-artifact@v4  # https://github.com/actions/upload-artifact
+        with:
+          name: ${{ matrix.rosdistro }}_docker_image
+          path: /tmp/${{ matrix.rosdistro }}_docker_image.tar
+          retention-days: 7
   build_and_test:
     name: Build and test proto2ros packages
     runs-on: ubuntu-22.04
     needs: prepare_container
-    container:
-      image: ${{ needs.prepare_container.outputs.image }}
+    strategy:
+      matrix:
+        rosdistro: [humble, jazzy]
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
 
+      - name: Download Docker image artifact
+        uses: actions/download-artifact@v5  # https://github.com/actions/download-artifact
+        with:
+          name: ${{ matrix.rosdistro }}_docker_image
+          path: /tmp
+
+      - name: Load Docker image
+        run: |
+          docker load -i /tmp/${{ matrix.rosdistro }}_docker_image.tar
+
       - name: Build and run tests
         run: |
-          source /opt/ros/humble/setup.bash
-          colcon build --symlink-install
-          source install/setup.bash
-          colcon test --event-handlers console_direct+
-          colcon test-result --all --verbose
+          docker run --rm -v ${{ github.workspace }}:/workspace -w /workspace \
+            ${{ github.repository }}_on_${{ matrix.rosdistro }}:sha-${{ github.sha }} bash -c " \
+              source /opt/ros/${{ matrix.rosdistro }}/setup.bash; \
+              colcon build --symlink-install; \
+              source install/setup.bash; \
+              colcon test --event-handlers console_direct+; \
+              colcon test-result --all --verbose"

proto2ros/proto2ros/cli/generate.py

@@ -1,13 +1,14 @@
 # Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 import argparse
 import collections
+import contextlib
 import importlib
 import importlib.resources
 import os
 import pathlib
 import sys
 import textwrap
-from typing import List
+from typing import Generator, List
 
 from google.protobuf.descriptor_pb2 import FileDescriptorProto
 
@@ -143,8 +144,21 @@ def do_generate(args: argparse.Namespace) -> int:
     return 0
 
 
-def main() -> int:
-    """Entrypoint for proto2ros"""
+@contextlib.contextmanager
+def package_defaults() -> Generator[argparse.Namespace, None, None]:
+    """Returns package defaults."""
+    if sys.version_info >= (3, 9):
+        files = importlib.resources.files("proto2ros.configuration")
+        managed_path = importlib.resources.as_file(files.joinpath("default.yaml"))
+        with managed_path as path:
+            yield argparse.Namespace(config_file=path)
+    else:
+        with importlib.resources.path("proto2ros.configuration", "default.yaml") as path:
+            yield argparse.Namespace(config_file=path)
+
+
+def parse_args(defaults: argparse.Namespace) -> argparse.Namespace:
+    """Parses command line arguments."""
     parser = argparse.ArgumentParser(description="Generate Protobuf <-> ROS 2 interoperability interfaces")
     parser.add_argument(
         "-O",
@@ -157,7 +171,7 @@ def main() -> int:
         "-c",
         "--config-file",
         type=pathlib.Path,
-        default=importlib.resources.path("proto2ros.configuration", "default.yaml"),
+        default=defaults.config_file,
         help="Base configuration file for the generation procedure.",
     )
     parser.add_argument(
@@ -196,8 +210,14 @@ def main() -> int:
         nargs="+",
         help="Protobuf descriptor files to process, as generated by protoc.",
     )
-    args = parser.parse_args()
-    return do_generate(args)
+    return parser.parse_args()
+
+
+def main() -> int:
+    """Entrypoint for proto2ros"""
+    with package_defaults() as defaults:
+        args = parse_args(defaults)
+        return do_generate(args)
 
 
 if __name__ == "__main__":