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Introduction

This page describes how to prepare a repository for release on the public ROS 2 buildfarm. After you've created a package, this is the next step towards getting your package in to the publicly-available Debian packages (i.e., you will be able to install the package via apt). This page includes the ROS 2-specific instructions to execute before following the Bloom release tutorial on the ROS Wiki.

Required Tools

For ROS 2 Bouncy:

  • bloom >= 0.6.6
  • catkin_pkg >= 0.4.5

for ROS 2 Crystal:

  • bloom >= 0.6.9
  • catkin_pkg >= 0.4.5

Ensure that you have the latest version of bloom and catkin_pkg

See above version requirements.

  • Make sure you have the ros repositories in your sources (see Instructions <linux-install-debians-setup-sources>)

  • Install the latest version of bloom and catkin_pkg:

    sudo apt install python-catkin-pkg python-bloom

Differences from ROS 1 Bloom

If you've bloomed packages before in ROS 1, ROS 2's requirements will look familiar.

ROS 2 uses a forked rosdistro index located at https://github.com/ros2/rosdistro. You can configure bloom to use it by setting the ROSDISTRO_INDEX_URL environment variable.

export ROSDISTRO_INDEX_URL='https://raw.githubusercontent.com/ros2/rosdistro/ros2/index-v4.yaml'

If you're using a version of bloom older than 0.6.8 you'll need to use the v3 index url for releasing into Bouncy.

export ROSDISTRO_INDEX_URL='https://raw.githubusercontent.com/ros2/rosdistro/ros2/index.yaml'

Procedure

Same as in ROS 1: Following this tutorial

If porting a ROS 1 package to ROS 2, it's recommended to create a new -release repository.

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