Fix develspace build and launch in --link-devel builds (catkin tools) (#771)

peci1 · mjcarroll · web-flow · commit 43fdd1f47358 · 2021-02-16T10:15:54.000-06:00
* Fix develspace build and launch

* Fix Common_TEST path comparison

Signed-off-by: Michael Carroll &lt;michael@openrobotics.org&gt;

* Add statistics environment variable

Signed-off-by: Michael Carroll &lt;michael@openrobotics.org&gt;

* Fix env scripts

* Fix searching the path to preinstalled worlds in devel space

Co-authored-by: Michael Carroll &lt;michael@openrobotics.org&gt;
diff --git a/ign_migration_scripts/CMakeLists.txt b/ign_migration_scripts/CMakeLists.txt
@@ -5,9 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-catkin_add_env_hooks(ign SHELLS bash
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
-catkin_add_env_hooks(ign SHELLS zsh
+catkin_add_env_hooks(29.ign_migration_scripts SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
diff --git a/ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em
@@ -0,0 +1,9 @@
+# Export Ignition environment variables
+
+@[if INSTALLSPACE]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+@[else]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+@[end if]@
diff --git a/ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em
@@ -0,0 +1,9 @@
+# Export Ignition environment variables
+
+@[if INSTALLSPACE]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+@[else]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+@[end if]@
diff --git a/ign_migration_scripts/env-hooks/ign.bash.in b/ign_migration_scripts/env-hooks/ign.bash.in
diff --git a/ign_migration_scripts/env-hooks/ign.zsh.in b/ign_migration_scripts/env-hooks/ign.zsh.in
diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt
@@ -15,6 +15,7 @@ set (SUBT_VERSION_FULL
 
 find_package(catkin REQUIRED
   COMPONENTS
+    roslib
     rostest
     subt_rf_interface
     subt_communication_model
@@ -52,6 +53,7 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${PROJECT_BINARY_DIR}/include
+  ${CATKIN_DEVEL_PREFIX}/include
 )
 
 catkin_package(
@@ -61,6 +63,7 @@ catkin_package(
     subt_communication_broker
   INCLUDE_DIRS
     include
+    ${CATKIN_DEVEL_PREFIX}/include
   LIBRARIES
     SubtProtobuf
   CFG_EXTRAS
@@ -88,9 +91,7 @@ install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/protobuf/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/protobuf
   FILES_MATCHING PATTERN "*.h")
 
-catkin_add_env_hooks(ign SHELLS bash
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
-catkin_add_env_hooks(ign SHELLS zsh
+catkin_add_env_hooks(30.subt_ign SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
 add_library(SubtCommon
diff --git a/subt_ign/env-hooks/30.subt_ign.bash.em b/subt_ign/env-hooks/30.subt_ign.bash.em
@@ -0,0 +1,15 @@
+# Export Ignition environment variables
+
+@[if INSTALLSPACE]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch
+export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION):${IGN_LAUNCH_PLUGIN_PATH}
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images
+@[else]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch
+export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION):${IGN_LAUNCH_PLUGIN_PATH}
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH}
+export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images
+@[end if]@
+
+export IGN_TRANSPORT_TOPIC_STATISTICS=1
diff --git a/subt_ign/env-hooks/30.subt_ign.zsh.em b/subt_ign/env-hooks/30.subt_ign.zsh.em
@@ -0,0 +1,15 @@
+# Export Ignition environment variables
+
+@[if INSTALLSPACE]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch
+export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION)
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds
+export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images
+export IGN_TRANSPORT_TOPIC_STATISTICS=1
+@[else]@
+export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch
+export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION)
+export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds
+export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images
+export IGN_TRANSPORT_TOPIC_STATISTICS=1
+@[end if]@
diff --git a/subt_ign/env-hooks/ign.bash.in b/subt_ign/env-hooks/ign.bash.in
diff --git a/subt_ign/env-hooks/ign.zsh.in b/subt_ign/env-hooks/ign.zsh.in
diff --git a/subt_ign/include/subt_ign/Config.hh.in b/subt_ign/include/subt_ign/Config.hh.in
@@ -20,7 +20,4 @@
 
 /* Config.hh. Generated by CMake for @PROJECT_NAME@. */
 
-/* Directory where the world files are installed */
-#define SUBT_INSTALL_WORLD_DIR "${CMAKE_INSTALL_PREFIX}/share/subt_ign/worlds"
-
 #endif
diff --git a/subt_ign/package.xml b/subt_ign/package.xml
@@ -22,6 +22,7 @@
   <depend>libccd-dev</depend>
   <depend>libfcl-dev</depend>
   <depend>rosbag</depend>
+  <depend>roslib</depend>
 
   <test_depend>rostest</test_depend>
 </package>
diff --git a/subt_ign/src/Common.cc b/subt_ign/src/Common.cc
@@ -18,6 +18,7 @@
 #include <subt_ign/Common.hh>
 #include <subt_ign/Config.hh>
 #include <ignition/common/Util.hh>
+#include <ros/package.h>
 
 namespace subt
 {
@@ -99,7 +100,8 @@ bool FullWorldPath(const std::string &_worldName,
     return false;
   }
 
-  std::string worldsDirectory = SUBT_INSTALL_WORLD_DIR;
+  std::string worldsDirectory = ignition::common::joinPaths(
+    ros::package::getPath("subt_ign"), "worlds");
 
   const std::string tunnelPrefix = "tunnel_circuit_";
   const std::string urbanPrefix = "urban_circuit_";
diff --git a/subt_ign/src/ConnectionValidatorPrivate.cc b/subt_ign/src/ConnectionValidatorPrivate.cc
@@ -31,13 +31,16 @@
 #include <subt_ign/Config.hh>
 #include <subt_ign/SimpleDOTParser.hh>
 
+#include <ros/package.h>
+
 using namespace subt;
 using namespace ignition;
 
 /////////////////////////////////////////////////
 bool ConnectionValidatorPrivate::Load(const std::string &_worldName)
 {
-  std::string worldsDirectory = SUBT_INSTALL_WORLD_DIR;
+  std::string worldsDirectory = ignition::common::joinPaths(
+		      ros::package::getPath("subt_ign"), "worlds");
 
   std::string fullPath;
   subt::FullWorldPath(_worldName, fullPath);
diff --git a/subt_ign/test/Common_TEST.cc b/subt_ign/test/Common_TEST.cc
@@ -17,16 +17,21 @@
 
 #include <gtest/gtest.h>
 
+#include <ignition/common/Filesystem.hh>
+
+#include <subt_ign/Config.hh>
 #include <subt_ign/Common.hh>
 #include <subt_ign/CommonTypes.hh>
 
+#include <ros/package.h>
+
 /////////////////////////////////////////////////
 TEST(subt_ign_Common, ArtifactTypes){
   // Tests to make sure all of our types are consistent
   //
   // It is expected that these tests will fail when artifacts
   // are added or removed, and should be adjusted as such.
-  auto num_artifacts = static_cast<uint32_t>(subt::ArtifactType::Count); 
+  auto num_artifacts = static_cast<uint32_t>(subt::ArtifactType::Count);
   ASSERT_EQ(14u, num_artifacts);
   ASSERT_EQ(num_artifacts, subt::kArtifactNames.size());
   ASSERT_EQ(num_artifacts, subt::kArtifactTypes.size());
@@ -138,27 +143,31 @@ TEST(subt_ign_Common, StringFromArtifact) {
 /////////////////////////////////////////////////
 TEST(subt_ign_Common, FullWorldPath) {
   std::vector<std::pair<std::string, std::string>> expected = {
-    {"simple_cave_01", "/simple_cave_01"},
-    {"cave_qual", "/cave_qual"},
-    {"cave_circuit_practice_01", "/cave_circuit_practice_01"},
-    {"cave_circuit_01", "/cave_circuit/01/cave_circuit_01"},
-
-    {"simple_tunnel_02", "/simple_tunnel_02"},
-    {"tunnel_circuit_practice_02", "/tunnel_circuit_practice_02"},
-    {"tunnel_qual_ign", "/tunnel_qual_ign"},
-    {"tunnel_circuit_02", "/tunnel_circuit/02/tunnel_circuit_02"},
-
-    {"simple_urban_03", "/simple_urban_03"},
-    {"urban_circuit_practice_03", "/urban_circuit_practice_03"},
-    {"urban_qual", "/urban_qual"},
-    {"urban_circuit_03", "/urban_circuit/03/urban_circuit_03"},
+    {"simple_cave_01", "simple_cave_01"},
+    {"cave_qual", "cave_qual"},
+    {"cave_circuit_practice_01", "cave_circuit_practice_01"},
+    {"cave_circuit_01", "cave_circuit/01/cave_circuit_01"},
+
+    {"simple_tunnel_02", "simple_tunnel_02"},
+    {"tunnel_circuit_practice_02", "tunnel_circuit_practice_02"},
+    {"tunnel_qual_ign", "tunnel_qual_ign"},
+    {"tunnel_circuit_02", "tunnel_circuit/02/tunnel_circuit_02"},
+
+    {"simple_urban_03", "simple_urban_03"},
+    {"urban_circuit_practice_03", "urban_circuit_practice_03"},
+    {"urban_qual", "urban_qual"},
+    {"urban_circuit_03", "urban_circuit/03/urban_circuit_03"},
   };
 
+  std::string worldsDirectory = ignition::common::joinPaths(
+    ros::package::getPath("subt_ign"), "worlds");
   for (const auto &[input, expected_out] : expected)
   {
     std::string worldPath;
     EXPECT_TRUE(subt::FullWorldPath(input, worldPath));
-    EXPECT_EQ(expected_out, worldPath);
+    EXPECT_EQ(
+        ignition::common::joinPaths(worldsDirectory, expected_out), 
+        worldPath);
   }
 
   {
