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# ROS-noetic安装应用于Ubuntu20.04lts
## 注最好全程使用root权限
```c
sudo vim /etc/apt/sources.list # 进入apt下载源文件
```
删除所有ubuntu官方源添加清华源
```c
# 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# 以下安全更新软件源包含了官方源与镜像站配置,如有需要可自行修改注释切换
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# 预发布软件源,不建议启用
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
```
添加ROS源地址
```c
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
```
设置密钥
```c
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys 6A030B21B4D2B67B
```
更新源
```c
sudo apt update
```
安装ROS-noetic
```c
sudo apt install ros-noetic-desktop-full
```
初始化 rosdep
```c
sudo rosdep init
rosdep update
```
配置环境变量
```c
source /opt/ros/noetic/setup.bash
source ~/.bashrc
```
安装ROS-python3工具包
```c
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
sudo apt install build-essential
```
环境配置检测
```c
# 确保环境配置
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# 确保ROS安装完整
sudo apt install --reinstall ros-noetic-desktop-full
# 检测roslaunch是否安装
dpkg -l | grep ros-noetic-roslaunch
# 若roslaunch以安装则无需执行下条命令
sudo apt install ros-noetic-roslaunch
```
启动roscore
```c
roscore
```
启动小乌龟
```c
rosrun turtlesim turtlesim_node
```
控制小乌龟(新终端窗口打开)
```c
rosrun turtlesim turtle_teleop_key
```
# 二
编译工作空间
```c
catkin_make
```
启动roscore
```c
roscore
```
添加环境变量
```c
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
```
启动发送端
```c
rosrun position_demo publisher_node.py
```
启动客户端
```c
rosrun position_demo subscriber_node.py
```
启动RViz
```c
rviz
```
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
在 Displays 面板中,点击 Add添加 Marker 类型。
# 三
编译工作空间
```c
catkin_make
```
启动roscore
```c
roscore
```
添加环境变量
```c
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
```
启动发送端
```c
rosrun position_demo publisher_node_three.py
```
启动客户端
```c
rosrun position_demo subscriber_node_three.py
```
启动RViz
```c
rviz
```
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
在 Displays 面板中,点击 Add添加 Marker 类型。

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make[1]: 进入目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp”
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/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_b2d4e.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
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/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_b2d4e.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_b2d4e.dir/CheckFunctionExists.c.o -o cmTC_b2d4e -lpthreads
/usr/bin/ld: 找不到 -lpthreads
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_b2d4e.dir/build.make:87cmTC_b2d4e] 错误 1
make[1]: 离开目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp”
make: *** [Makefile:121cmTC_b2d4e/fast] 错误 2

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arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
arg [-plugin] ==> ignore arg [-plugin] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/ccXe8HSQ.res] ==> ignore arg [-plugin-opt=-fresolution=/tmp/cc4l6Jza.res] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lc] ==> ignore arg [-plugin-opt=-pass-through=-lc] ==> ignore
@ -199,7 +199,7 @@ Parsed C implicit link information from above output:
arg [-znow] ==> ignore arg [-znow] ==> ignore
arg [-zrelro] ==> ignore arg [-zrelro] ==> ignore
arg [-o] ==> ignore arg [-o] ==> ignore
arg [cmTC_32ff1] ==> ignore arg [cmTC_35c0d] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
@ -211,7 +211,7 @@ Parsed C implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
arg [CMakeFiles/cmTC_32ff1.dir/CMakeCCompilerABI.c.o] ==> ignore arg [CMakeFiles/cmTC_35c0d.dir/CMakeCCompilerABI.c.o] ==> ignore
arg [-lgcc] ==> lib [gcc] arg [-lgcc] ==> lib [gcc]
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arg [--as-needed] ==> ignore arg [--as-needed] ==> ignore
@ -239,26 +239,26 @@ Parsed C implicit link information from above output:
Determining if the CXX compiler works passed with the following output: Determining if the CXX compiler works passed with the following output:
Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp Change Dir: /home/a/shiyan1/build/CMakeFiles/CMakeTmp
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make[1]: 进入目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” make[1]: 进入目录“/home/a/shiyan1/build/CMakeFiles/CMakeTmp”
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Linking CXX executable cmTC_d9928 Linking CXX executable cmTC_0a475
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/usr/bin/c++ -rdynamic CMakeFiles/cmTC_d9928.dir/testCXXCompiler.cxx.o -o cmTC_d9928 /usr/bin/c++ -rdynamic CMakeFiles/cmTC_0a475.dir/testCXXCompiler.cxx.o -o cmTC_0a475
make[1]: 离开目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” make[1]: 离开目录“/home/a/shiyan1/build/CMakeFiles/CMakeTmp”
Detecting CXX compiler ABI info compiled with the following output: Detecting CXX compiler ABI info compiled with the following output:
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Building CXX object CMakeFiles/cmTC_abf87.dir/CMakeCXXCompilerABI.cpp.o Building CXX object CMakeFiles/cmTC_ae22d.dir/CMakeCXXCompilerABI.cpp.o
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Using built-in specs. Using built-in specs.
COLLECT_GCC=/usr/bin/c++ COLLECT_GCC=/usr/bin/c++
OFFLOAD_TARGET_NAMES=nvptx-none:hsa OFFLOAD_TARGET_NAMES=nvptx-none:hsa
@ -267,8 +267,8 @@ Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix Thread model: posix
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_abf87.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae22d.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_abf87.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccBUW1Nl.s /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_ae22d.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccM3DisG.s
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu) GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
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GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
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help: help:
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@echo "... gtest_main" @echo "... gtest_main"
@echo "... gtest" @echo "... gtest"
@echo "... actionlib_msgs_generate_messages_py" @echo "... nodeA"
@echo "... actionlib_msgs_generate_messages_nodejs"
@echo "... actionlib_msgs_generate_messages_lisp"
@echo "... geometry_msgs_generate_messages_eus"
@echo "... actionlib_msgs_generate_messages_eus"
@echo "... geometry_msgs_generate_messages_cpp"
@echo "... geometry_msgs_generate_messages_nodejs"
@echo "... std_msgs_generate_messages_cpp"
@echo "... geometry_msgs_generate_messages_lisp"
@echo "... std_msgs_generate_messages_eus"
@echo "... actionlib_msgs_generate_messages_cpp"
@echo "... nav_msgs_generate_messages_py"
@echo "... std_msgs_generate_messages_lisp"
@echo "... nav_msgs_generate_messages_nodejs"
@echo "... std_msgs_generate_messages_nodejs"
@echo "... std_msgs_generate_messages_py" @echo "... std_msgs_generate_messages_py"
@echo "... nav_msgs_generate_messages_eus" @echo "... std_msgs_generate_messages_nodejs"
@echo "... geometry_msgs_generate_messages_py" @echo "... roscpp_generate_messages_cpp"
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@ -268,7 +268,7 @@ if __name__ == '__main__':
if not args.local: if not args.local:
# environment at generation time # environment at generation time
CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
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#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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@ -0,0 +1,304 @@
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/a/demo/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

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