From 4c3b8283d1b97e5986727c996446e2a465f44654 Mon Sep 17 00:00:00 2001
From: Bas Zalmstra <4995967+baszalmstra@users.noreply.github.com>
Date: Fri, 31 Oct 2025 16:54:09 +0800
Subject: [PATCH] rename packages

---
 vinca/distro.py                          |  8 +++
 vinca/generate_gha.py                    |  4 +-
 vinca/main.py                            | 52 ++++++++-------
 vinca/resolve.py                         |  3 +-
 vinca/template.py                        | 10 ++-
 vinca/templates/bld_ament_python.bat.in  |  2 +-
 vinca/templates/bld_catkin.bat.in        |  8 +--
 vinca/templates/bld_catkin_merge.bat.in  |  2 +-
 vinca/templates/build_ament_python.sh.in |  4 +-
 vinca/templates/build_catkin.sh.in       | 10 +--
 vinca/test_naming_scheme.py              | 83 ++++++++++++++++++++++++
 vinca/utils.py                           | 11 ++--
 12 files changed, 149 insertions(+), 48 deletions(-)
 create mode 100644 vinca/test_naming_scheme.py

diff --git a/vinca/distro.py b/vinca/distro.py
index 83e25d6..327baa5 100644
--- a/vinca/distro.py
+++ b/vinca/distro.py
@@ -171,6 +171,14 @@ def get_release_package_xml(self, pkg_name):
     def check_ros1(self):
         return self._distribution_type == "ros1"
 
+    def get_ros_version(self):
+        """Get ROS version number (1 or 2)"""
+        return "1" if self.check_ros1() else "2"
+
+    def get_package_prefix(self):
+        """Get the package name prefix (ros for ROS1, ros2 for ROS2)"""
+        return "ros" if self.check_ros1() else "ros2"
+
     def get_python_version(self):
         return self._python_version
 
diff --git a/vinca/generate_gha.py b/vinca/generate_gha.py
index 86f2e45..95025da 100644
--- a/vinca/generate_gha.py
+++ b/vinca/generate_gha.py
@@ -480,8 +480,8 @@ def main():
             ]
             if platform == "emscripten-wasm32":
                 # Hot fix to add the only ros package inside a if else statement
-                if "ros-humble-rmw-wasm-cpp" in str(reqs):
-                    requirements[pkg_name].append("ros-humble-rmw-wasm-cpp")
+                if "ros2-rmw-wasm-cpp" in str(reqs):
+                    requirements[pkg_name].append("ros2-rmw-wasm-cpp")
 
         G = nx.DiGraph()
         for pkg, reqs in requirements.items():
diff --git a/vinca/main.py b/vinca/main.py
index 65066fc..9d8b78e 100644
--- a/vinca/main.py
+++ b/vinca/main.py
@@ -425,10 +425,14 @@ def generate_output(pkg_shortname, vinca_conf, distro, version, all_pkgs=None):
         "ros_environment",
     ]:
         output["requirements"]["host"].append(
-            f"ros-{config.ros_distro}-ros-environment"
+            f"{distro.get_package_prefix()}-ros-environment"
+        )
+        output["requirements"]["host"].append(
+            f"{distro.get_package_prefix()}-ros-workspace"
+        )
+        output["requirements"]["run"].append(
+            f"{distro.get_package_prefix()}-ros-workspace"
         )
-        output["requirements"]["host"].append(f"ros-{config.ros_distro}-ros-workspace")
-        output["requirements"]["run"].append(f"ros-{config.ros_distro}-ros-workspace")
 
     rm_deps, add_deps = get_depmods(vinca_conf, pkg.name)
     gdeps = []
@@ -469,7 +473,7 @@ def generate_output(pkg_shortname, vinca_conf, distro, version, all_pkgs=None):
             output["requirements"]["build"].append(
                 {
                     "if": "build_platform != target_platform",
-                    "then": [f"ros-{config.ros_distro}-cyclonedds"],
+                    "then": [f"{distro.get_package_prefix()}-cyclonedds"],
                 }
             )
 
@@ -519,32 +523,31 @@ def sortkey(k):
         if "cmake" not in output["requirements"]["build"]:
             output["requirements"]["build"].append("cmake")
 
-    if f"ros-{config.ros_distro}-mimick-vendor" in output["requirements"]["build"]:
-        output["requirements"]["build"].remove(f"ros-{config.ros_distro}-mimick-vendor")
+    mimick_vendor_name = f"{distro.get_package_prefix()}-mimick-vendor"
+    if mimick_vendor_name in output["requirements"]["build"]:
+        output["requirements"]["build"].remove(mimick_vendor_name)
         output["requirements"]["build"].append(
             {
                 "if": "target_platform != 'emscripten-wasm32'",
-                "then": [f"ros-{config.ros_distro}-mimick-vendor"],
+                "then": [mimick_vendor_name],
             }
         )
 
-    if f"ros-{config.ros_distro}-mimick-vendor" in output["requirements"]["host"]:
-        output["requirements"]["host"].remove(f"ros-{config.ros_distro}-mimick-vendor")
+    if mimick_vendor_name in output["requirements"]["host"]:
+        output["requirements"]["host"].remove(mimick_vendor_name)
         output["requirements"]["build"].append(
             {
                 "if": "target_platform != 'emscripten-wasm32'",
-                "then": [f"ros-{config.ros_distro}-mimick-vendor"],
+                "then": [mimick_vendor_name],
             }
         )
 
-    if (
-        f"ros-{config.ros_distro}-rosidl-default-generators"
-        in output["requirements"]["host"]
-    ):
+    rosidl_generators_name = f"{distro.get_package_prefix()}-rosidl-default-generators"
+    if rosidl_generators_name in output["requirements"]["host"]:
         output["requirements"]["build"].append(
             {
                 "if": "target_platform == 'emscripten-wasm32'",
-                "then": [f"ros-{config.ros_distro}-rosidl-default-generators"],
+                "then": [rosidl_generators_name],
             }
         )
 
@@ -558,7 +561,8 @@ def sortkey(k):
         }
     ]
 
-    if f"ros-{config.ros_distro}-pybind11-vendor" in output["requirements"]["host"]:
+    pybind11_vendor_name = f"{distro.get_package_prefix()}-pybind11-vendor"
+    if pybind11_vendor_name in output["requirements"]["host"]:
         output["requirements"]["host"] += ["pybind11"]
     if "pybind11" in output["requirements"]["host"]:
         output["requirements"]["build"] += [
@@ -983,7 +987,7 @@ def generate_mutex_package_recipe(vinca_conf, distro):
 
 def parse_package(pkg, distro, vinca_conf, path):
     name = pkg["name"].replace("_", "-")
-    final_name = f"ros-{distro.name}-{name}"
+    final_name = f"{distro.get_package_prefix()}-{name}"
 
     recipe = {
         "package": {"name": final_name, "version": pkg["version"]},
@@ -1148,7 +1152,7 @@ def main():
             for o in outputs:
                 sources[o["package"]["name"]] = o["source"]
                 del o["source"]
-            write_recipe(sources, outputs, vinca_conf)
+            write_recipe(sources, outputs, vinca_conf, distro)
 
     else:
         if arguments.skip_already_built_repodata or vinca_conf.get("skip_existing"):
@@ -1168,10 +1172,10 @@ def main():
                     additional_recipe_names.add(add_rec_y["package"]["name"])
                 else:
                     if add_rec_y["package"]["name"] not in [
-                        "ros-humble-rmw-wasm-cpp",
-                        "ros-humble-wasm-cpp",
-                        "ros-humble-dynmsg",
-                        "ros-humble-test-wasm",
+                        "ros2-rmw-wasm-cpp",
+                        "ros2-wasm-cpp",
+                        "ros2-dynmsg",
+                        "ros2-test-wasm",
                     ]:
                         additional_recipe_names.add(add_rec_y["package"]["name"])
 
@@ -1235,9 +1239,9 @@ def main():
             outputs = generate_outputs(distro, vinca_conf)
 
         if arguments.multiple_file:
-            write_recipe(source, outputs, vinca_conf, False)
+            write_recipe(source, outputs, vinca_conf, distro, False)
         else:
-            write_recipe(source, outputs, vinca_conf)
+            write_recipe(source, outputs, vinca_conf, distro)
 
         if unsatisfied_deps:
             print("Unsatisfied dependencies:", unsatisfied_deps)
diff --git a/vinca/resolve.py b/vinca/resolve.py
index 883b2ba..c883f8a 100644
--- a/vinca/resolve.py
+++ b/vinca/resolve.py
@@ -69,8 +69,7 @@ def resolve_pkgname(pkg_shortname, vinca_conf, distro, is_rundep=False):
             return []
         else:
             return [
-                "ros-%s-%s"
-                % (vinca_conf["ros_distro"], pkg_shortname.replace("_", "-"))
+                "%s-%s" % (distro.get_package_prefix(), pkg_shortname.replace("_", "-"))
             ]
     else:
         if is_rundep:  # for run dependencies, remove the version
diff --git a/vinca/template.py b/vinca/template.py
index fa30d47..b362c94 100644
--- a/vinca/template.py
+++ b/vinca/template.py
@@ -77,7 +77,7 @@ def copyfile_with_exec_permissions(source_file, destination_file):
         )
 
 
-def write_recipe(source, outputs, vinca_conf, single_file=True):
+def write_recipe(source, outputs, vinca_conf, distro, single_file=True):
     # single_file = False
     if single_file:
         file = yaml.YAML()
@@ -200,6 +200,7 @@ def write_recipe(source, outputs, vinca_conf, single_file=True):
                 generate_build_script_for_recipe(
                     script_filename,
                     recipe_dir / script_filename,
+                    distro.get_package_prefix(),
                     additional_cmake_args,
                     additional_folder,
                 )
@@ -238,7 +239,11 @@ def generate_template(template_in, template_out, extra_globals=None):
 
 
 def generate_build_script_for_recipe(
-    script_name, output_path, additional_cmake_args="", additional_folder=""
+    script_name,
+    output_path,
+    ros_package_prefix,
+    additional_cmake_args="",
+    additional_folder="",
 ):
     """Generate a specific build script directly in the recipe directory."""
     import pkg_resources
@@ -261,6 +266,7 @@ def generate_build_script_for_recipe(
         )
         with open(output_path, "w") as output_file:
             extra_globals = {}
+            extra_globals["ros_package_prefix"] = ros_package_prefix
             if additional_cmake_args:
                 extra_globals["additional_cmake_args"] = additional_cmake_args
             else:
diff --git a/vinca/templates/bld_ament_python.bat.in b/vinca/templates/bld_ament_python.bat.in
index 8d6ff92..5640724 100644
--- a/vinca/templates/bld_ament_python.bat.in
+++ b/vinca/templates/bld_ament_python.bat.in
@@ -5,7 +5,7 @@ setlocal
 set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
 
 pushd %SRC_DIR%\%PKG_NAME%\src\work\@(additional_folder)
-set "PKG_NAME_SHORT=%PKG_NAME:*ros-@(ros_distro)-=%"
+set "PKG_NAME_SHORT=%PKG_NAME:*@(ros_package_prefix)-=%"
 set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%"
 
 :: If there is a setup.cfg that contains install-scripts then use pip to install
diff --git a/vinca/templates/bld_catkin.bat.in b/vinca/templates/bld_catkin.bat.in
index dc40f72..f534ce3 100644
--- a/vinca/templates/bld_catkin.bat.in
+++ b/vinca/templates/bld_catkin.bat.in
@@ -15,7 +15,7 @@ set CXX=cl.exe
 set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
 
 set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
-if "%PKG_NAME%" == "ros-@(ros_distro)-catkin" (
+if "%PKG_NAME%" == "@(ros_package_prefix)-catkin" (
     :: create catkin cookie to make it is a catkin workspace
     type NUL > %LIBRARY_PREFIX%\.catkin
     :: keep the workspace activation scripts (e.g., local_setup.bat)
@@ -46,7 +46,7 @@ cmake ^
     %SRC_DIR%\%PKG_NAME%\src\work\@(additional_folder)
 if errorlevel 1 exit 1
 
-if "%PKG_NAME%" == "ros-@(ros_distro)-eigenpy" (
+if "%PKG_NAME%" == "@(ros_package_prefix)-eigenpy" (
     cmake --build . --config Release --target all --parallel 1
     if errorlevel 1 exit 1
 ) else (
@@ -62,7 +62,7 @@ if "%SKIP_TESTING%" == "OFF" (
 cmake --build . --config Release --target install
 if errorlevel 1 exit 1
 
-if "%PKG_NAME%" == "ros-@(ros_distro)-catkin" (
+if "%PKG_NAME%" == "@(ros_package_prefix)-catkin" (
     :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
     :: This will allow them to be run on environment activation.
     for %%F in (activate deactivate) DO (
@@ -71,7 +71,7 @@ if "%PKG_NAME%" == "ros-@(ros_distro)-catkin" (
     )
 )
 
-if "%PKG_NAME%" == "ros-@(ros_distro)-ros-workspace" (
+if "%PKG_NAME%" == "@(ros_package_prefix)-ros-workspace" (
     :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
     :: This will allow them to be run on environment activation.
     for %%F in (activate deactivate) DO (
diff --git a/vinca/templates/bld_catkin_merge.bat.in b/vinca/templates/bld_catkin_merge.bat.in
index 7ff5a7a..24512c2 100644
--- a/vinca/templates/bld_catkin_merge.bat.in
+++ b/vinca/templates/bld_catkin_merge.bat.in
@@ -13,7 +13,7 @@ set CXX=cl.exe
 :: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
 set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
 
-set CATKIN_MAKE_ISOLATED=src\ros-@(ros_distro)-catkin\bin\catkin_make_isolated
+set CATKIN_MAKE_ISOLATED=src\@(ros_package_prefix)-catkin\bin\catkin_make_isolated
 set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:\=/%
 
 %PYTHON% %CATKIN_MAKE_ISOLATED% ^
diff --git a/vinca/templates/build_ament_python.sh.in b/vinca/templates/build_ament_python.sh.in
index 5151721..5cbffb0 100644
--- a/vinca/templates/build_ament_python.sh.in
+++ b/vinca/templates/build_ament_python.sh.in
@@ -7,8 +7,8 @@ pushd $SRC_DIR/$PKG_NAME/src/work/@(additional_folder)
 
 # If there is a setup.cfg that contains install-scripts then we should not set it here
 if [ -f setup.cfg ] && grep -q "install[-_]scripts" setup.cfg; then
-  # Remove e.g. ros-humble- from PKG_NAME
-  PKG_NAME_SHORT=${PKG_NAME#*ros-@(ros_distro)-}
+  # Remove e.g. ros2- or ros- from PKG_NAME
+  PKG_NAME_SHORT=${PKG_NAME#*@(ros_package_prefix)-}
   # Substitute "-" with "_"
   PKG_NAME_SHORT=${PKG_NAME_SHORT//-/_}
   INSTALL_SCRIPTS_ARG="--install-scripts=$PREFIX/lib/$PKG_NAME_SHORT"
diff --git a/vinca/templates/build_catkin.sh.in b/vinca/templates/build_catkin.sh.in
index 94729fb..f7dee2b 100644
--- a/vinca/templates/build_catkin.sh.in
+++ b/vinca/templates/build_catkin.sh.in
@@ -5,7 +5,7 @@ set -eo pipefail
 
 CATKIN_BUILD_BINARY_PACKAGE="ON"
 
-if [ "${PKG_NAME}" == "ros-@(ros_distro)-catkin" ]; then
+if [ "${PKG_NAME}" == "@(ros_package_prefix)-catkin" ]; then
     # create catkin cookie to make it is a catkin workspace
     touch $PREFIX/.catkin
     # keep the workspace activation scripts (e.g., local_setup.bat)
@@ -85,7 +85,7 @@ fi
 
 export SKIP_TESTING=@(skip_testing)
 
-if [ "${PKG_NAME}" == "ros-noetic-euslisp" ] || [ "${PKG_NAME}" = "ros-noetic-jskeus" ] || [ "${PKG_NAME}" = "ros-noetic-roseus" ]; then
+if [ "${PKG_NAME}" == "ros-euslisp" ] || [ "${PKG_NAME}" = "ros-jskeus" ] || [ "${PKG_NAME}" = "ros-roseus" ]; then
   GENERATOR="Unix Makefiles"
 else
   GENERATOR="Ninja"
@@ -123,7 +123,7 @@ fi
 
 cmake --build . --config Release --target install
 
-if [ "${PKG_NAME}" == "ros-@(ros_distro)-catkin" ]; then
+if [ "${PKG_NAME}" == "@(ros_package_prefix)-catkin" ]; then
     # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
     # This will allow them to be run on environment activation.
     for CHANGE in "activate" "deactivate"
@@ -133,7 +133,7 @@ if [ "${PKG_NAME}" == "ros-@(ros_distro)-catkin" ]; then
     done
 fi
 
-if [ "${PKG_NAME}" == "ros-@(ros_distro)-environment" ]; then
+if [ "${PKG_NAME}" == "@(ros_package_prefix)-environment" ]; then
    for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh"
    do
        mkdir -p "${PREFIX}/etc/conda/activate.d"
@@ -141,7 +141,7 @@ if [ "${PKG_NAME}" == "ros-@(ros_distro)-environment" ]; then
    done
 fi
 
-if [ "${PKG_NAME}" == "ros-@(ros_distro)-ros-workspace" ]; then
+if [ "${PKG_NAME}" == "@(ros_package_prefix)-ros-workspace" ]; then
     # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
     # This will allow them to be run on environment activation.
     for CHANGE in "activate" "deactivate"
diff --git a/vinca/test_naming_scheme.py b/vinca/test_naming_scheme.py
new file mode 100644
index 0000000..2fa97d9
--- /dev/null
+++ b/vinca/test_naming_scheme.py
@@ -0,0 +1,83 @@
+"""Tests for the ROS package naming scheme."""
+
+import pytest
+from unittest.mock import Mock
+from vinca.utils import ensure_name_is_without_distro_prefix_and_with_underscores
+from vinca.distro import Distro
+
+
+@pytest.mark.parametrize(
+    "input_name,expected_output",
+    [
+        # ROS2 packages
+        ("ros2-my-package", "my_package"),
+        ("ros2-complex-package-name", "complex_package_name"),
+        ("ros2-ros-environment", "ros_environment"),
+        ("ros2-ros-workspace", "ros_workspace"),
+        ("ros2-catkin", "catkin"),
+        ("ros2-navigation2", "navigation2"),
+        ("ros2-my-very-long-package-name", "my_very_long_package_name"),
+        ("ros2-navigation-stack-extra", "navigation_stack_extra"),
+        ("ros2-my_package_name", "my_package_name"),
+        # ROS1 packages
+        ("ros-my-package", "my_package"),
+        ("ros-test-package", "test_package"),
+        ("ros-ros-environment", "ros_environment"),
+        ("ros-ros-workspace", "ros_workspace"),
+        ("ros-catkin", "catkin"),
+        ("ros-moveit", "moveit"),
+        ("ros-simple", "simple"),
+        # Packages without prefix
+        ("my-package", "my_package"),
+        # Edge cases
+        ("ros2-a", "a"),
+        ("ros-a", "a"),
+        ("ros2-ros", "ros"),
+    ],
+)
+def test_package_normalization(input_name, expected_output):
+    """Test package name normalization for various inputs."""
+    vinca_conf = {}
+    result = ensure_name_is_without_distro_prefix_and_with_underscores(
+        input_name, vinca_conf
+    )
+    assert result == expected_output
+
+
+@pytest.mark.parametrize(
+    "package_name",
+    [
+        "ros2-my-package",
+        "ros2-complex-package-name",
+        "ros-simple-package",
+        "ros-another-test",
+    ],
+)
+def test_no_hyphens_in_output(package_name):
+    """Test that normalized names contain no hyphens."""
+    vinca_conf = {}
+    result = ensure_name_is_without_distro_prefix_and_with_underscores(
+        package_name, vinca_conf
+    )
+    assert "-" not in result
+
+
+@pytest.mark.parametrize(
+    "distribution_type,expected_prefix,expected_version",
+    [
+        ("ros1", "ros", "1"),
+        ("ros2", "ros2", "2"),
+    ],
+)
+def test_distro_prefix_and_version(
+    distribution_type, expected_prefix, expected_version
+):
+    """Test that Distro returns correct package prefix and ROS version."""
+    distro = Mock(spec=Distro)
+    distro._distribution_type = distribution_type
+    distro.check_ros1 = lambda: distro._distribution_type == "ros1"
+    distro.get_package_prefix = lambda: "ros" if distro.check_ros1() else "ros2"
+    distro.get_ros_version = lambda: "1" if distro.check_ros1() else "2"
+
+    assert distro.get_package_prefix() == expected_prefix
+    assert distro.get_ros_version() == expected_version
diff --git a/vinca/utils.py b/vinca/utils.py
index e5e2d11..1589f0d 100644
--- a/vinca/utils.py
+++ b/vinca/utils.py
@@ -69,13 +69,14 @@ def get_repodata(url_or_path, platform=None):
 
 def ensure_name_is_without_distro_prefix_and_with_underscores(name, vinca_conf):
     """
-    Ensure that the name is without distro prefix and with underscores
-    e.g. "ros-humble-pkg-name" -> "pkg_name"
+    Ensure that the name is without ROS prefix and with underscores
+    e.g. "ros2-pkg-name" -> "pkg_name" or "ros-pkg-name" -> "pkg_name"
     """
     newname = name.replace("-", "_")
-    distro_prefix = "ros_" + vinca_conf.get("ros_distro") + "_"
-    if newname.startswith(distro_prefix):
-        newname = newname.replace(distro_prefix, "")
+    if newname.startswith("ros2_"):
+        newname = newname[5:]  # Remove "ros2_"
+    elif newname.startswith("ros_"):
+        newname = newname[4:]  # Remove "ros_"
 
     return newname