[ros-users] catkin support in python rospkg

[Brian Wightman]

I've actually been using pkg-config from the exports with ParseConfig. 
If catkin provides pkg-config support this sounds even easier than 
extracting manifest exports.

Thanks!

On 01/17/2013 03:21 PM, Eric Perko wrote:
> 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 <mailto: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 <mailto: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 <mailto:wwoodall at willowgarage.com>
>
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>

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