generate_microRTPS_bridge: make sure that the ROS2 version of FastRTPS is grabbed in a colcon build

msg/tools/generate_microRTPS_bridge.py

@@ -47,6 +47,7 @@ from uorb_rtps_classifier import Classifier
 import subprocess
 import glob
 import errno
+import re
 
 try:
     from six.moves import input
@@ -259,9 +260,6 @@ else:
     raise Exception(
         "FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
 
-# get FastRTPS version
-fastrtps_version = subprocess.check_output(
-    "ldconfig -v 2>/dev/null | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
 
 # get ROS 2 version, if exists
 ros2_distro = ''
@@ -272,6 +270,18 @@ if ros_version == '2' :
     else :
         ros2_distro = os.environ.get('ROS_DISTRO')
 
+# get FastRTPS version
+fastrtps_version = ''
+if not ros2_distro:
+    # grab the version installed system wise
+    fastrtps_version = subprocess.check_output(
+        "ldconfig -v 2>/dev/null | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
+else:
+    # grab the version of the ros-<ros_distro>-fastrtps package
+    fastrtps_version = re.search(r'Version:\s*([\dd.]+)', subprocess.check_output(
+        "dpkg -s ros-" + ros2_distro + "-fastrtps 2>/dev/null | grep -i version", shell=True).decode("utf-8").strip()).group(1)
+
+
 # If nothing specified it's generated both
 if agent == False and client == False:
     agent = True