[ros-users] catkin support in python rospkg

[Eric Perko]

scons does have support for automatically grabbing the appropriate include
and link flags from pkg-config. See
http://www.scons.org/wiki/UsingPkgConfig (specifically
the ParseConfig command). I've not tried it with packages built via catkin,
but I have used it successfully with e.g. PCL.

- Eric


On Thu, Jan 17, 2013 at 4:16 PM, William Woodall
<wwoodall at willowgarage.com>wrote:

> 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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>
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