[ros-users] catkin support in python rospkg

William Woodall wwoodall at willowgarage.com
Thu Jan 17 21:16:14 UTC 2013

Catkin also provides CMake find_package infrastructure and pkg-config
infrastructure for each package.  I would think scons would support getting
build flags from pkg-config given its popularity in many dev libraries.
 That is likely easier than extracting them from CMake and probably the
easiest method in general.


On Thu, Jan 17, 2013 at 12:59 PM, Brian Wightman
<brian.j.wightman at nasa.gov>wrote:

> In rosbuild I was able to use rospkg to grab all of the [cflags, lflags]
> exports out of a given package's manifest. Is there a plan to add this
> functionality for catkin packages?
> My use-case may sound a bit odd:
> I have been using scons rather than cmake to build packages. The rospkg
> manifest.xml parsing makes this rather painless (20 lines of python to
> collect all the build flags). Now with the "exports" buried in cmake files,
> I don't have a convenient way to access them.
> In particular, I have code that forwards ROS messages between systems with
> separate roscore instances. I have to compile in a publisher/subscriber
> call for each message type so I've found it convenient to auto-generate the
> HPP/CPP files from a list of message-containing packages (std_msgs,
> sensor_msgs, etc.) using Python and rospkg.
> If anyone's curious, here's the scons build code I've been using:
> import os, rospkg
> def load_ros_deps(env):
>     pkg_name = os.path.basename(Dir('.').**srcnode().abspath)
>     depends = []
>     for d in map(repr, rospkg.RosPack().get_manifest(**pkg_name).depends):
>         depends.append(d)
>         # load exports
>         manifest = rospkg.RosPack().get_manifest(**d)
>         for f in [j for j in [manifest.get_export('cpp', i) for i in
> ['cflags', 'lflags']] if j]:
>             allf = f[0].split('`')
>             for conf in allf[1::2]:
>                 env.ParseConfig(conf)
>             env.MergeFlags(env.ParseFlags(**' '.join(allf[0::2])))
>         pkg_path = os.path.dirname(manifest.**filename)
>         msg_path = os.path.join(pkg_path, 'msg_gen', 'cpp', 'include')
>         if os.path.exists(msg_path):
>             env.MergeFlags(env.ParseFlags(**'-I{}'.format(msg_path)))
> env = Environment(
>     ENV = {'PYTHONPATH': os.environ['PYTHONPATH'], # allow us to call
> rosboost-cfg
>            'PKG_CONFIG_PATH': os.environ['PKG_CONFIG_PATH']}**,
>     ...
> )
> Certainly I can achieve the same thing with CMake, but I find scons to be
> much nicer to work with.
> Thanks,
> Brian Wightman
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William Woodall
Willow Garage - Software Engineer
wwoodall at willowgarage.com
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