From d4ba0732bbf9ceefc43da31f0ebf92b566e3d130 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <tmoulard@amazon.com>
Date: Mon, 9 Dec 2019 14:44:38 -0800
Subject: [PATCH] Add support for installing ROS using APT (#30)

Signed-off-by: Thomas Moulard <tmoulard@amazon.com>
---
 .github/workflows/test.yml | 19 +++++++++++++++++++
 action.yml                 | 22 ++++++++++++++++++++++
 dist/index.js              | 12 ++++++++++++
 src/setup-ros2-linux.ts    | 15 +++++++++++++++
 4 files changed, 68 insertions(+)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index c7852b52b..6171d036c 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -36,3 +36,22 @@ jobs:
     - run: which colcon
     - run: which rosdep
     - run: which vcs
+
+  test_binary_install:
+    name: "ROS and ROS 2 Binary Install Test Suite (Linux only)"
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - uses: actions/setup-node@v1
+      with:
+        node-version: '12.x'
+    - run: npm ci
+    - run: npm run build
+
+    - uses: ./ # Uses an action in the root directory
+      with:
+        required-ros-distributions: melodic dashing
+    - run: test -f /opt/ros/dashing/setup.sh
+      name: "Check that dashing setup.sh has been installed."
+    - run: test -f /opt/ros/melodic/setup.sh
+      name: "Check that melodic setup.sh has been installed."
diff --git a/action.yml b/action.yml
index 7b4db2ae8..970160aa2 100644
--- a/action.yml
+++ b/action.yml
@@ -4,6 +4,28 @@ author: 'ROS Tooling Working Group'
 branding:
   icon: 'box'
   color: 'gray-dark'
+inputs:
+  required-ros-distributions:
+    description: |
+        List of binary ROS distributions to be installed.
+
+        Support for non-Linux platform is not implemented yet, so this
+        parameter is ignored on Mac OS X and Windows.
+
+        Allowed ROS distributions
+        - "" (no value) - no ROS binary installation
+        - kinetic
+        - melodic
+        - dashing
+        - eloquent
+        - source
+
+        Multiple values can be passed using a whitespace delimited list
+        "melodic dashing".
+
+        For each passed ROS distribution, its desktop variant will be installed.
+    required: false
+    default: ""
 runs:
   using: 'node12'
   main: 'dist/index.js'
diff --git a/dist/index.js b/dist/index.js
index f6b894eb6..52bc326e7 100644
--- a/dist/index.js
+++ b/dist/index.js
@@ -1049,6 +1049,11 @@ function runLinux() {
             "--recv-keys",
             "C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
         ]);
+        yield utils.exec("sudo", [
+            "bash",
+            "-c",
+            `echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list`
+        ]);
         yield utils.exec("sudo", [
             "bash",
             "-c",
@@ -1063,6 +1068,13 @@ function runLinux() {
         yield pip.installPython3Dependencies();
         // Initializes rosdep
         yield utils.exec("sudo", ["rosdep", "init"]);
+        const requiredRosDistributions = core.getInput("required-ros-distributions");
+        if (requiredRosDistributions) {
+            const requiredRosDistributionsList = requiredRosDistributions.split(RegExp("\\s"));
+            for (let rosDistro of requiredRosDistributionsList) {
+                yield apt.runAptGetInstall([`ros-${rosDistro}-desktop`]);
+            }
+        }
     });
 }
 exports.runLinux = runLinux;
diff --git a/src/setup-ros2-linux.ts b/src/setup-ros2-linux.ts
index 7c36f9804..5f950c78b 100644
--- a/src/setup-ros2-linux.ts
+++ b/src/setup-ros2-linux.ts
@@ -35,6 +35,11 @@ export async function runLinux() {
 		"--recv-keys",
 		"C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
 	]);
+	await utils.exec("sudo", [
+		"bash",
+		"-c",
+		`echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list`
+	]);
 	await utils.exec("sudo", [
 		"bash",
 		"-c",
@@ -50,4 +55,14 @@ export async function runLinux() {
 	await pip.installPython3Dependencies();
 	// Initializes rosdep
 	await utils.exec("sudo", ["rosdep", "init"]);
+
+	const requiredRosDistributions = core.getInput("required-ros-distributions");
+	if (requiredRosDistributions) {
+		const requiredRosDistributionsList = requiredRosDistributions.split(
+			RegExp("\\s")
+		);
+		for (let rosDistro of requiredRosDistributionsList) {
+			await apt.runAptGetInstall([`ros-${rosDistro}-desktop`]);
+		}
+	}
 }