Replace JavaCPP with hand-written JNI (#102)

Author: ds58

.github/workflows/build-natives.yml

@@ -10,21 +10,47 @@ on:
   #   - cron: '0 */8 * * *'
 
 jobs:
+  # Major ROS 2 distros + Foxy for Ubuntu 20.04 / GLIBC 2.31 coverage.
+  # Platform mapping: foxy=20.04, humble=22.04, jazzy/kilted=24.04, lyrical=26.04.
   test-linux:
-    name: Linux (ROS 2 ${{ matrix.ros_distro }})
+    name: Linux (ROS 2 ${{ matrix.ros_distro }} / Ubuntu ${{ matrix.ubuntu }})
     runs-on: ubuntu-latest
     timeout-minutes: 15
     strategy:
+      fail-fast: false
       matrix:
-        ros_distro: [humble, jazzy, kilted]
+        include:
+          - ros_distro: foxy
+            ubuntu: '20.04'
+          - ros_distro: humble
+            ubuntu: '22.04'
+          - ros_distro: jazzy
+            ubuntu: '24.04'
+          - ros_distro: kilted
+            ubuntu: '24.04'
+          - ros_distro: lyrical
+            ubuntu: '26.04'
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop
+    defaults:
+      run:
+        # Older ROS images (e.g. foxy/focal) default to dash in job containers.
+        shell: bash
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
+
+      - name: Confirm ROS / Ubuntu environment
+        run: |
+          set -euo pipefail
+          . /etc/os-release
+          echo "ROS_DISTRO=${{ matrix.ros_distro }}"
+          echo "Container Ubuntu: $PRETTY_NAME"
+          test "$VERSION_ID" = "${{ matrix.ubuntu }}"
+          test -f "/opt/ros/${{ matrix.ros_distro }}/setup.bash"
 
       - name: Setup JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'temurin'
@@ -36,22 +62,106 @@ jobs:
         if: failure()
         run: find . -name 'hs_err*' -type f -exec cat {} +
 
+  # Build the Android AAR and verify that bundled natives load on an x86_64 emulator.
+  test-android:
+    name: Android (AAR + native load)
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v5
+
+      - name: Enable KVM
+        run: |
+          set -euo pipefail
+          echo 'KERNEL=="kvm", GROUP="kvm", MODE="0666", OPTIONS+="static_node=kvm"' | sudo tee /etc/udev/rules.d/99-kvm4all.rules
+          sudo udevadm control --reload-rules
+          sudo udevadm trigger --name-match=kvm
+
+      - name: Setup JDK 17
+        uses: actions/setup-java@v5
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+
+      - name: Setup Android SDK
+        uses: android-actions/setup-android@v4
+
+      - name: Install Android SDK packages
+        run: |
+          set -euo pipefail
+          # JNI libs are prebuilt in jniLibs; NDK is not required to assemble the AAR.
+          sdkmanager --install \
+            "platforms;android-35" \
+            "build-tools;35.0.0" \
+            "platform-tools" \
+            "emulator" \
+            "system-images;android-30;google_apis;x86_64"
+
+      - name: Verify committed Android JNI libraries
+        run: |
+          set -euo pipefail
+          for abi in arm64-v8a x86_64; do
+            for lib in libfastcdr.so libfastdds.so libjnifastddsjava.so libc++_shared.so; do
+              test -f "android/src/main/jniLibs/$abi/$lib" || {
+                echo "Missing android/src/main/jniLibs/$abi/$lib"
+                exit 1
+              }
+            done
+            echo "OK jniLibs/$abi"
+            ls -la "android/src/main/jniLibs/$abi"
+          done
+
+      - name: Build Android release AAR
+        working-directory: android
+        run: ./gradlew assembleRelease --stacktrace
+
+      - name: Verify AAR packages JNI libraries
+        working-directory: android
+        run: |
+          set -euo pipefail
+          AAR=$(find build/outputs/aar -name '*.aar' | head -1)
+          test -n "$AAR" || { echo "No AAR produced under build/outputs/aar"; find build -type f | head -50; exit 1; }
+          echo "Built AAR: $AAR"
+          unzip -l "$AAR"
+
+          for abi in arm64-v8a x86_64; do
+            for lib in libfastcdr.so libfastdds.so libjnifastddsjava.so libc++_shared.so; do
+              unzip -l "$AAR" | grep -q "jni/$abi/$lib" || {
+                echo "AAR missing jni/$abi/$lib"
+                exit 1
+              }
+            done
+            echo "OK AAR contains jni/$abi natives"
+          done
+
+      - name: Run Android native library load test
+        uses: reactivecircus/android-emulator-runner@v2
+        with:
+          api-level: 30
+          arch: x86_64
+          target: google_apis
+          emulator-options: -no-snapshot-save -no-window -gpu swiftshader_indirect -noaudio -no-boot-anim -camera-back none
+          disable-animations: true
+          working-directory: android
+          script: ./gradlew connectedDebugAndroidTest --stacktrace
+
   test-docker:
     name: Docker Integration Tests
     runs-on: ubuntu-latest
     timeout-minutes: 15
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Setup JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'temurin'
 
       - name: Setup Docker
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@v4
 
       - name: Build JAR
         run: ./gradlew jar
@@ -63,12 +173,14 @@ jobs:
     name: Windows
     runs-on: windows-latest
     timeout-minutes: 10
+    env:
+      JAVA_TOOL_OPTIONS: -Dfile.encoding=UTF-8
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Setup JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'temurin'
@@ -83,10 +195,10 @@ jobs:
     timeout-minutes: 10
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Setup JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'temurin'
@@ -100,10 +212,10 @@ jobs:
     timeout-minutes: 10
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Setup JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'temurin'

.github/workflows/gradle-test.yml

@@ -11,9 +11,11 @@
 
 A ROS 2 library for Java. Uses Fast-DDS middleware. Fully compatible with other supported ROS 2 DDS middlewares.
 
-Fast-DDS version: `3.2.2`
+Fast-DDS version: `3.6.2`
 
-ROS 2 compatible and tested distros: `[humble, jazzy, kilted]`
+ROS 2 compatible and tested distros: `[foxy, humble, jazzy, kilted, lyrical]`
+(Foxy covers Ubuntu 20.04; Humble 22.04; Jazzy/Kilted 24.04; Lyrical 26.04.
+On Foxy, ros2 to jros2 interop is tested; jros2 to `ros2 topic echo` is covered on Humble+.)
 
 Supported platforms:
 - Linux (Ubuntu 20.04+ or similar x86_64, arm64, armhf)
@@ -24,7 +26,7 @@ Supported platforms:
 Works on NVIDIA Jetson and all versions of Raspberry Pi!
 
 ## Features
-- Fully compatible with ROS 2 humble or newer (may also work with older ROS 2 distros)
+- Fully compatible with ROS 2 foxy or newer
 - Does not require a ROS 2 installation on the system
 - Ready-to-use Java library, just add to your Maven or Gradle dependencies!
 - Publish and subscribe to ROS 2 topics

README.md

@@ -65,6 +65,7 @@ android {
       minSdk = 26
 
       consumerProguardFiles("consumer-rules.pro")
+      testInstrumentationRunner = "androidx.test.runner.AndroidJUnitRunner"
    }
 
    buildTypes {
@@ -94,17 +95,16 @@ android {
          pickFirsts.add("**/libjnifastddsjava.so")
       }
    }
+
+   testOptions {
+      animationsDisabled = true
+   }
 }
 
 dependencies {
-   api("org.bytedeco:javacpp:1.5.11")
-   api("us.ihmc:ihmc-native-library-loader:2.0.6")
-   // Match Jackson version with ihmc-robot-data-logger
-   api("com.fasterxml.jackson.core:jackson-databind:2.18.1")
-   api("com.fasterxml.jackson.dataformat:jackson-dataformat-xml:2.18.1")
-   // StAX API and implementation for Android (javax.xml.stream package)
-   api("javax.xml.stream:stax-api:1.0-2")
-   api("com.fasterxml.woodstox:woodstox-core:6.7.0")
+   androidTestImplementation("junit:junit:4.13.2")
+   androidTestImplementation("androidx.test:runner:1.6.2")
+   androidTestImplementation("androidx.test.ext:junit:1.2.1")
 }
 
 tasks.register("copyLibcppShared") {
@@ -124,11 +124,16 @@ tasks.register("copyLibcppShared") {
             if (libcppPath.exists()) {
                val abiDir = file("$jniLibsDir/$abi")
                abiDir.mkdirs()
-               copy {
-                  from(libcppPath)
-                  into(abiDir)
+               val dest = file("$abiDir/libc++_shared.so")
+               if (!dest.exists()) {
+                  copy {
+                     from(libcppPath)
+                     into(abiDir)
+                  }
+                  println("Copied libc++_shared.so for $abi from $libcppPath")
+               } else {
+                  println("Keeping existing libc++_shared.so for $abi")
                }
-               println("Copied libc++_shared.so for $abi from $libcppPath")
             } else {
                println("libc++_shared.so not found at $libcppPath")
             }
@@ -183,4 +188,4 @@ afterEvaluate {
    tasks.named("publishReleasePublicationToMavenLocal") {
       dependsOn("bundleReleaseAar")
    }
-}
+}

android/build.gradle.kts

@@ -0,0 +1 @@
+# Consumer ProGuard rules for jros2-android (intentionally empty).

android/consumer-rules.pro

@@ -0,0 +1,2 @@
+android.useAndroidX=true
+org.gradle.jvmargs=-Xmx2g

android/gradle.properties

@@ -5,6 +5,7 @@ pluginManagement {
    repositories {
       google()
       mavenCentral()
+      gradlePluginPortal()
    }
 }
 

android/settings.gradle.kts

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+</manifest>

android/src/androidTest/AndroidManifest.xml

@@ -0,0 +1,48 @@
+/*
+ *  Copyright 2025 Florida Institute for Human and Machine Cognition (IHMC)
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+package us.ihmc.jros2;
+
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import us.ihmc.fastddsjava.natives.fastddsjava;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNotEquals;
+
+/**
+ * Verifies that the AAR's bundled Fast-DDS / JNI libraries load and JNI resolves on device.
+ */
+@RunWith(AndroidJUnit4.class)
+public class NativeLibraryLoadTest
+{
+   @Test
+   public void nativeLibrariesLoadAndJniResolves()
+   {
+      // Load in dependency order (matches fastddsjavaNativeLibrary Android path).
+      System.loadLibrary("log");
+      System.loadLibrary("c++_shared");
+      System.loadLibrary("fastcdr");
+      System.loadLibrary("fastdds");
+      System.loadLibrary("jnifastddsjava");
+
+      long type = fastddsjava.createTopicDataWrapperType("android_native_load_test", fastddsjava.CDR_LE);
+      assertNotEquals(0L, type);
+      assertEquals("android_native_load_test", fastddsjava.topicDataWrapperTypeGetName(type));
+   }
+}