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What the best practice to manage / install dependencies for ROS2 python package? Installing by setup.py? Using system-level or an interpreter in venv with requirements.txt to install dependencies with pip manually? Can colcon trigger installation from pypi on a build stage?
A ROS package must specify its dependencies in the package.xml file. Simply because that is the information being used to e.g. release a package with bloom into a Debian package.
With that information available you can then use rosdep to install the dependencies according to the platform you are on. On Ubuntu it should be Debian packages (otherwise you wouldn't be able to create a Debian package of your package). On other platforms rosdep will use pip.
colconexplicitly does not target to install any dependencies for you (see https://colcon.readthedocs.io/en/rele...). It leaves this part to other tools (like rosdep).
It's strongly recommended to use system dependencies declared in the package.xml file and then standard tools like rosdep can both check and resolve them.
colcon is a build tool. We have specifically separated build and install stages for cleaner separation of concerns as well as to avoid side effects that might have security implications.
A standard practice is to:
Asked: 2019-09-30 07:19:34 -0600
Seen: 5,886 times
Last updated: Sep 30 '19
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While answers recommends
rosdep, this one: https://answers.ros.org/question/3107... can help as well.That answer is out of date, and all core dependencies are available from debian packages now. And pip dependencies can be resolved by rosdep, they just can't be released into debian paickages.
Rosdep uses own package registry not connected with pypi.org. There is a list of Python packages available: https://raw.githubusercontent.com/ros.... More information is here: https://docs.ros.org/independent/api/...