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Installing Python module in ROS2 package

humble
ros2

asked 2022-05-27 21:45:18 -0500

sea-bass
11 ●1 ●2 ●4

updated 2022-05-27 21:47:08 -0500

Hello all!

I have a GitHub repo in which I want to distribute a pure Python module and a ROS2 wrapper around that. So think:

my_package/
    - submoduleA/
    - submoduleB/
    - setup.py
    - COLCON_IGNORE
my_package_ros/
    - scripts/
    - CMakeLists.txt
    - package.xml

At the moment, I have a bash script that creates a Python virtualenv that installs my_package and some other dependencies, but I would like to automate this for ROS workflows.

Specifically, is there a way I can ensure that when running colcon build, I can install the my_package module when installing my_package_ros?

Thanks!

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answered 2022-05-29 01:31:25 -0500

aprotyas
456 ●5 ●32 ●16

Yes, I believe you're looking for the following functions from the ament_cmake API:

Having said that, I don't think said functions actually introspect/respect things in your setup.py file. For reference: https://discourse.ros.org/t/mixed-pyt...

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Thank you!

As you said, ament_python_install_package gets me the actual package installed, but it doesn't honor the install_requires listed in setup.py or setup.cfg (I tried both)... so that's a bummer.

I unfortunately still need a manual way to actually install those dependencies via pip outside of the main call to colcon build.

sea-bass ( 2022-05-29 07:56:37 -0500 )edit

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Asked: 2022-05-27 21:45:18 -0500

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Last updated: May 29 '22

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Installing Python module in ROS2 package