[ros-users] Python node design.

[Renato Samperio]

Dar ROS
users,



I would
like to know if somebody could have a hint for our problem. This
question is for system design in python.



We
require of a ROS package holding a library for our system that has
relevant python wrappers (pyopencv)
used in our system.



So far,
we have encapsulated all required libraries (*.so) and python files
(*.py) into a node structure which can be used by pointing it to the
LD_LIBRARY_PATH. However, if we want to run our system as a ROS node,
we also require to update this system variable.



The
'manifest.xml' file for our ROS library (pyopencv) is:


<package>

 
<description
brief="pyopencv">
pyopencv
</description>

 
<author>Renato
Samperio</author>

 
<license>BSD</license>

  <review
status="unreviewed" notes=""/>

 
<url>http://ros.org/wiki/pyopencv</url>

  <depend
package="rospy"/>

  <depend
package="sensor_msgs"/>

 
<export>


    <cpp
lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib
-lpyopencv_extras -lboost_python -lcvaux -lcv_h_ext -lcv_hpp_ext
-lcxcore_h_ext -lcxcore_hpp_ext -lcxcore_hpp_point_ext
-lcxcore_hpp_vec_ext -lcxtypes_h_ext -lhighgui_ext -lcvaux -lcv
-lcxcore -lhighgui -lml -lml_ext -lsdopencv_ext" />

 
</export>

</package>



We made
our node following rules from PyStyleGuide.
Our file system structure is:
	pyopencv
	    |-
CMakeLists.txt

	    |-
manifest.xml

	    |-
mainpage.dox
	    |-
src/
	       
|- pyopencv/
		← Pointed to  LD_LIBRARY_PATH
	       
|- __init__.py

	       
|- *.so, *.py, *.pyc



I would
really appreciate if somebody has an idea of how we could avoid the  LD_LIBRARY_PATH  system variable.



With
best wishes,



Renato
Samperio 

 		 	   		  
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