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Ign pkg_create #1582
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Ign pkg_create #1582
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49a4ad2
Adding ign pkg_create
harshmahesheka 0e488ff
Merge branch 'ign-gazebo6' of https://github.com/ignitionrobotics/ign…
harshmahesheka fa59fad
Removing extra whitespaces and lines
harshmahesheka 983601d
Resolving Knits
harshmahesheka a71ce04
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harshmahesheka 4d559e5
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#!/usr/bin/ruby | ||
require 'erb' | ||
require 'open-uri' | ||
require 'yaml' | ||
require 'ostruct' | ||
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# Copyright (C) 2022 Open Source Robotics Foundation | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
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# We use 'dl' for Ruby <= 1.9.x and 'fiddle' for Ruby >= 2.0.x | ||
if RUBY_VERSION.split('.')[0] < '2' | ||
require 'dl' | ||
require 'dl/import' | ||
include DL | ||
else | ||
require 'fiddle' | ||
require 'fiddle/import' | ||
include Fiddle | ||
end | ||
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require 'optparse' | ||
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# Constants. | ||
LIBRARY_NAME = '@library_location@' | ||
LIBRARY_VERSION = '@PROJECT_VERSION_FULL@' | ||
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COMMON_OPTIONS = | ||
" -h [--help] Print this help message.\n"\ | ||
" \n" + | ||
" --force-version <VERSION> Use a specific library version.\n"\ | ||
" \n" + | ||
' --versions Show the available versions.' | ||
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COMMANDS = { 'pkg_create' => | ||
"Create a new ignition package.\n"+ | ||
" \n"\ | ||
" ign pkg_create [options] \n\n"\ | ||
" \n"\ | ||
"Available Options: \n\n"\ | ||
" -n [--name] arg Name of new package [Required] \n\n"\ | ||
" -i [--init-with-example-system] Package with various example resources \n\n"+ | ||
" -b [--built_type] arg Build type between ament_cmake or cmake \n\n"+ | ||
" -e [--export_type] arg Export type between colcon or plain-camke] \n\n"+ | ||
" -d [--ign_dependecies] Package depends on common ign packages \n\n"+ | ||
" -g [--gazebo_version] arg Gazebo version name for dependencies \n\n"+ | ||
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COMMON_OPTIONS | ||
} | ||
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# | ||
# Class for the Gazebo pkg_create command line tools. | ||
# | ||
class Cmd | ||
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# | ||
# Return a structure describing the options. | ||
# | ||
def parse(args) | ||
options = { | ||
} | ||
usage = COMMANDS[args[0]] | ||
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opt_parser = OptionParser.new do |opts| | ||
opts.banner = usage | ||
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opts.on('-h', '--help') do | ||
puts usage | ||
exit | ||
end | ||
opts.on('-n [arg]', '--name [arg]', String, 'Name of new package') do |n| | ||
options['name'] = n | ||
end | ||
opts.on('-i','--init-with-example-system', String, 'Package with various example resources') do | ||
options['init-with-example-system'] = 1 | ||
end | ||
opts.on('-b [arg]', '--built_type [arg]', String, 'Build type between ament_cmake or cmake') do |b| | ||
options['built_type'] = b | ||
end | ||
opts.on('-e [arg]', '--export_type [arg]', String, 'Export type between colcon or plain-camke') do |e| | ||
options['export_type'] = e | ||
end | ||
opts.on('-d','--ign_dependecies', String, 'Package depends on common ign packages') do | ||
options['ign_dependecies'] = 1 | ||
end | ||
opts.on('-g [arg]', '--gazebo_version [arg]',String, 'Gazebo version name for dependencies') do |g| | ||
options['gazebo_version'] = g | ||
end | ||
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end # opt_parser do | ||
begin | ||
opt_parser.parse!(args) | ||
rescue | ||
puts usage | ||
exit(-1) | ||
end | ||
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# Check if all options are correct | ||
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if !(options.key?('name') && options['name'].class()==String) | ||
puts "ERROR: Please provide proper package name.\n" | ||
puts usage | ||
exit(-1) | ||
end | ||
if (options.key?('built_type') && !(['ament_cmake','cmake'].include? options["built_type"])) | ||
puts "WARNING: Invalid Built-type,defaulting to cmake\n" | ||
options['built_type'] = "cmake" | ||
end | ||
if (options.key?('export_type') && !(['plain_cmake','colcon'].include? options["export_type"])) | ||
puts "WARNING: Invalid Export-type,defaulting to colcon\n" | ||
options['export_type'] = "colcon" | ||
end | ||
if (options.key?('gazebo_version') && !(['acropolis','blueprint','citadel','dome','edifice','fortress','garden'].include? options["gazebo_version"])) | ||
puts "WARNING: Invalid Gazebo Version,defaulting to fortress\n" | ||
options['gazebo_version'] = "fortress" | ||
end | ||
#Giving default values | ||
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if !options.key?('init-with-example-system') | ||
options['init-with-example-system'] = 0 | ||
end | ||
if !options.key?('built_type') | ||
options['built_type'] = "cmake" | ||
end | ||
if !options.key?('export_type') | ||
options['export_type'] = "colcon" | ||
end | ||
if !options.key?('ign_dependecies') | ||
options['ign_dependecies'] = 0 | ||
end | ||
if !options.key?('gazebo_version') | ||
options['gazebo_version'] = "fortress" | ||
end | ||
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options['command'] = args[0] | ||
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options | ||
end # parse() | ||
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def execute(args) | ||
options = parse(args) | ||
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# Read the plugin that handles the command. | ||
if LIBRARY_NAME[0] == '/' | ||
# If the first character is a slash, we'll assume that we've been given an | ||
# absolute path to the library. This is only used during test mode. | ||
plugin = LIBRARY_NAME | ||
else | ||
# We're assuming that the library path is relative to the current | ||
# location of this script. | ||
plugin = File.expand_path(File.join(File.dirname(__FILE__), LIBRARY_NAME)) | ||
end | ||
conf_version = LIBRARY_VERSION | ||
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begin | ||
Importer.dlload plugin | ||
rescue DLError => e | ||
puts "Library error for [#{plugin}]: #{e.to_s}" | ||
exit(-1) | ||
end | ||
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##Code for package generation | ||
if Dir.exists?(options['name']) | ||
puts "ERROR:Folder with this name already exists." | ||
exit(-1) | ||
end | ||
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#Creates Package folder | ||
Dir.mkdir(options['name']) | ||
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#Fetching dependencies versions for common dependencies | ||
if options['ign_dependecies']==1 | ||
dependencies = URI.open('https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-%s.yaml'% options['gazebo_version']){|f| f.read} | ||
dependencies_yaml = YAML.load(dependencies) | ||
dependencies_dict={} | ||
for dependency in dependencies_yaml.fetch('repositories').keys | ||
dependencies_dict[dependency]=dependencies_yaml['repositories'][dependency]['version'].scan( /\d+$/ ).first | ||
end | ||
end | ||
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resources_dir=__dir__+"/resources" | ||
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#Creates CMakeLists.txt using erb | ||
cmakelists_render = ERB.new(File.read(resources_dir+"/CMakeLists.erb"),trim_mode: ">") | ||
cmakelists_file = File.new(options['name']+"/CMakeLists.txt", "w") | ||
cmakelists_file.puts(cmakelists_render.result(OpenStruct.new(options).instance_eval { binding })) | ||
cmakelists_file.close | ||
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#Creates package.xml for ament dependent | ||
if options['built_type']=='ament_cmake' | ||
package_xml_render = ERB.new(File.read(resources_dir+"/package_xml.erb"),trim_mode: ">") | ||
package_xml_file = File.new(options['name']+"/package.xml", "w") | ||
package_xml_file.puts(package_xml_render.result(OpenStruct.new(options).instance_eval { binding })) | ||
package_xml_file.close | ||
end | ||
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#Creates example resources for advance package | ||
if options['init-with-example-system']==1 | ||
Dir.mkdir(options['name']+"/worlds") | ||
Dir.mkdir(options['name']+"/models") | ||
Dir.mkdir(options['name']+"/models/elevator") | ||
Dir.mkdir(options['name']+"/plugins") | ||
Dir.mkdir(options['name']+"/src") | ||
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executable_txt=File.read(resources_dir+"/executables/random_points.cc") | ||
executable_file = File.new(options['name']+"/src/random_points.cc", "w") | ||
executable_file.puts(executable_txt) | ||
executable_file.close | ||
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plugin_txt=File.read(resources_dir+"/plugins/HelloWorld.cc") | ||
plugin_file = File.new(options['name']+"/plugins/HelloWorld.cc", "w") | ||
plugin_file.puts(plugin_txt) | ||
plugin_file.close | ||
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plugin_header_txt=File.read(resources_dir+"/plugins/HelloWorld.hh") | ||
plugin_header_file = File.new(options['name']+"/plugins/HelloWorld.hh", "w") | ||
plugin_header_file.puts(plugin_header_txt) | ||
plugin_header_file.close | ||
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world_txt=File.read(resources_dir+"/worlds/empty_platform_with_elevator.sdf") | ||
world_file = File.new(options['name']+"/worlds/empty_platform_with_elevator.sdf", "w") | ||
world_file.puts(world_txt) | ||
world_file.close | ||
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model_config_txt=File.read(resources_dir+"/models/elevator/model.config") | ||
model_config_file = File.new(options['name']+"/models/elevator/model.config", "w") | ||
model_config_file.puts(model_config_txt) | ||
model_config_file.close | ||
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model_sdf_txt=File.read(resources_dir+"/models/elevator/model.sdf") | ||
model_sdf_file = File.new(options['name']+"/models/elevator/model.sdf", "w") | ||
model_sdf_file.puts(model_sdf_txt) | ||
model_sdf_file.close | ||
end | ||
# # execute | ||
end | ||
# class | ||
end |
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--- # Model subcommand available inside ignition gazebo. | ||
format: 1.0.0 | ||
library_name: ignition-gazebo-ign | ||
library_version: @PROJECT_VERSION_FULL@ | ||
library_path: @ign_model_ruby_path@ | ||
commands: | ||
- pkg_create : Create a new ignition package | ||
--- |
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#These lines will set minimum required version of cmake and declare the name of the project. | ||
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
project(<%= options['name'] %>) | ||
<% if options['ign_dependecies']==1 %> | ||
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#This is a list of general packages on which your ignition package will depend,find_package function will find and source theses packages. | ||
#You can add or delete dependencies based on your requirement. | ||
<% if options['built_type']=='ament_cmake' %> | ||
#Since,the package is amnet dependent we will find and call ament_cmake. | ||
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find_package(ament_cmake REQUIRED) | ||
<% end %> | ||
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find_package(ignition-cmake<%= dependencies_dict["ign-cmake"]%> REQUIRED) | ||
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find_package(ignition-gazebo<%= dependencies_dict["ign-gazebo"]%> REQUIRED COMPONENTS gui) | ||
set(IGN_GAZEBO_VER ${ignition-gazebo<%= dependencies_dict["ign-gazebo"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-gui<%= dependencies_dict["ign-gui"]%> REQUIRED) | ||
set(IGN_GUI_VER ${ignition-gui<%= dependencies_dict["ign-gui"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-rendering<%= dependencies_dict["ign-rendering"]%> REQUIRED) | ||
set(IGN_RENDERING_VER ${ignition-rendering<%= dependencies_dict["ign-rendering"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-sensors<%= dependencies_dict["ign-sensors"]%> REQUIRED) | ||
set(IGN_SENSORS_VER ${ignition-sensors<%= dependencies_dict["ign-sensors"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-msgs<%= dependencies_dict["ign-msgs"]%> REQUIRED) | ||
set(IGN_MSGS_VER ${ignition-msgs<%= dependencies_dict["ign-msgs"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-plugin<%= dependencies_dict["ign-plugin"]%> REQUIRED COMPONENTS register) | ||
set(IGN_PLUGIN_VER ${ignition-plugin<%= dependencies_dict["ign-plugin"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-utils<%= dependencies_dict["ign-utils"]%> REQUIRED) | ||
set(IGN_UTILS_VER ${ignition-utils<%= dependencies_dict["ign-utils"]%>_VERSION_MAJOR}) | ||
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find_package(ignition-common<%= dependencies_dict["ign-common"]%> REQUIRED COMPONENTS profiler) | ||
set(IGN_COMMON_VER ${ignition-common<%= dependencies_dict["ign-common"]%>_VERSION_MAJOR}) | ||
<% end %> | ||
<% if options['init-with-example-system']==1 %> | ||
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#These will install directories with various resources like worlds,plugins etc. | ||
ign_add_resources(worlds) | ||
ign_add_resources(models) | ||
ign_export_variable(LD_LIBRARY_PATH @CMAKE_INSTALL_PREFIX@/lib) | ||
ign_add_plugins(plugins COMMON_PUBLIC_LIBRARIES | ||
ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER} | ||
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} | ||
ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}) | ||
ign_add_executables(src COMMON_PUBLIC_LIBRARIES | ||
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}) | ||
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#This line will export paths of all the above mentioned resources. | ||
<% if options['export_type']=="colcon"%> | ||
ign_environment_hook(colcon) | ||
<% end %> | ||
<% if options['export_type']=="plain_cmake"%> | ||
ign_environment_hook(plain-cmake) | ||
<% end %> | ||
<% end %> | ||
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#These line will run tests for the package, if build testing is set to be TRUE | ||
#You can add your tests here | ||
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if(BUILD_TESTING) | ||
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<% if options['built_type']=='ament_cmake' %> | ||
find_package(ament_cmake_gtest REQUIRED) | ||
<% end %> | ||
set("PROJECT_BINARY_PATH" ${CMAKE_CURRENT_BINARY_DIR}) | ||
set("PROJECT_SOURCE_PATH" ${CMAKE_CURRENT_SOURCE_DIR}) | ||
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endif() | ||
<% if options['built_type']=='ament_cmake' %> | ||
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#The project setup is done by ament_package(). | ||
#It installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files | ||
#for CMake so that it can be found by other packages using find_package. | ||
ament_package() | ||
<% end %> |
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Include
author
andlicense
as options as well.There was a problem hiding this comment.
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So, that information will be used when using ament cmake. Will that be ok?