python_orocos_kdl: remove AMENT_IGNORE and add manual PYTHONPATH envi…

…ronment hook
ros2 · Dec 8, 2017 · 2175675 · 2175675
1 parent d8531ab
commit 2175675
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Showing 4 changed files with 30 additions and 6 deletions.
diff --git a/python_orocos_kdl/AMENT_IGNORE b/python_orocos_kdl/AMENT_IGNORE
diff --git a/python_orocos_kdl/CMakeLists.txt b/python_orocos_kdl/CMakeLists.txt
@@ -16,7 +16,7 @@ include_directories(${orocos_kdl_INCLUDE_DIRS})
 link_directories(${orocos_kdl_LIBRARY_DIRS})
 
 SET(PYTHON_VERSION 3.5 CACHE STRING "Python Version")
-message(PYTHON_VERSION_STRING)
+message(STATUS ${PYTHON_VERSION_STRING})
 find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
 find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} REQUIRED)
 execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))" OUTPUT_VARIABLE PYTHON_SITE_PACKAGES OUTPUT_STRIP_TRAILING_WHITESPACE)
@@ -32,6 +32,25 @@ set(SIP_EXTRA_OPTIONS "-o")
 set(PYTHON_SITE_PACKAGES_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES})
 add_sip_python_module(PyKDL PyKDL/PyKDL.sip ${orocos_kdl_LIBRARIES})
 
-ament_package()
+# Manually trigger adding install directory to $PYTHONPATH - until ament supports SIP packages or a better solution is found
+configure_file(
+  "cmake/pythonpath_hook.sh.in"
+  "cmake/pythonpath_hook.sh"
+  @ONLY
+)
+ament_environment_hooks(
+  ${CMAKE_CURRENT_BINARY_DIR}/cmake/pythonpath_hook.sh
+)
+
+# python_module_PyKDL is target name created by add_sip_python_module()
+install(
+  TARGETS python_module_PyKDL
+  DESTINATION "${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
+)
+
+install(
+	FILES package.xml
+	DESTINATION share/${PROJECT_NAME}
+)
 
-install(FILES package.xml DESTINATION share/python_orocos_kdl)
+ament_package()
diff --git a/python_orocos_kdl/cmake/SIPMacros.cmake b/python_orocos_kdl/cmake/SIPMacros.cmake
@@ -103,9 +103,9 @@ MACRO(ADD_SIP_PYTHON_MODULE MODULE_NAME MODULE_SIP)
         ENDFOREACH(filename ${_sip_output_files})
     ENDIF(NOT WIN32)
     ADD_CUSTOM_COMMAND(
-        OUTPUT ${_sip_output_files} 
+        OUTPUT ${_sip_output_files}
         COMMAND ${CMAKE_COMMAND} -E echo ${message}
-        COMMAND ${TOUCH_COMMAND} ${_sip_output_files} 
+        COMMAND ${TOUCH_COMMAND} ${_sip_output_files}
         COMMAND ${SIP_EXECUTABLE} ${_sip_tags} ${_sip_x} ${SIP_EXTRA_OPTIONS} -j ${SIP_CONCAT_PARTS} -c ${CMAKE_CURRENT_SIP_OUTPUT_DIR} ${_sip_includes} ${_abs_module_sip}
         DEPENDS ${_abs_module_sip} ${SIP_EXTRA_FILES_DEPEND}
     )
@@ -119,6 +119,7 @@ MACRO(ADD_SIP_PYTHON_MODULE MODULE_NAME MODULE_SIP)
     TARGET_LINK_LIBRARIES(${_logical_name} ${EXTRA_LINK_LIBRARIES})
     SET_TARGET_PROPERTIES(${_logical_name} PROPERTIES PREFIX "" OUTPUT_NAME ${_child_module_name})
 
-    INSTALL(TARGETS ${_logical_name} DESTINATION "${PYTHON_SITE_PACKAGES_INSTALL_DIR}/${_parent_module_path}")
+    # install step moved into main CMakeLists.txt with better destination
+    # INSTALL(TARGETS ${_logical_name} DESTINATION "${PYTHON_SITE_PACKAGES_INSTALL_DIR}/${_parent_module_path}")
 
 ENDMACRO(ADD_SIP_PYTHON_MODULE)
diff --git a/python_orocos_kdl/cmake/pythonpath_hook.sh.in b/python_orocos_kdl/cmake/pythonpath_hook.sh.in
@@ -0,0 +1,4 @@
+# copy of ament_package/template/environment_hook/pythonpath.sh.in
+# https://github.com/ament/ament_package/blob/master/ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/@PYTHON_INSTALL_DIR@"