updated to current catkin

CMakeLists.txt

@@ -9,8 +9,9 @@ catkin_stack()
 # add_gtest(), which is called from within lower-level CMakeLists.txts.
 catkin_python_setup()
 
+catkin_add_env_hooks(10.ros SHELLS bat sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+
 foreach(subdir
-    env-hooks
     tools/rosunit
     core/roslib
     tools/rosbash
@@ -21,7 +22,7 @@ endforeach()
 # nosetests are declared here to make them visible to the build system
 # (e.g., for Jenkins to invoke) but keep them from polluting the pristine
 # Python packages.
-find_package(ROS COMPONENTS rosunit)
+find_package(catkin COMPONENTS rosunit)
 add_nosetests(core/roslib/test)
 add_nosetests(tools/rosmake/test)
 add_nosetests(tools/rosunit/test)

core/rosbuild/rosbuild.cmake

@@ -4,25 +4,25 @@ cmake_minimum_required(VERSION 2.4.6)
 #
 #  Catkin-compat thunks
 #
-cmake_policy(SET CMP0011 OLD)
+#cmake_policy(SET CMP0011 OLD)
 
 macro(rosbuild_catkinize)
 endmacro()
 
 # Policy settings to prevent warnings on 2.6 but ensure proper operation on
 # 2.4.
-if(COMMAND cmake_policy)
+#if(COMMAND cmake_policy)
   # Logical target names must be globally unique.
-  cmake_policy(SET CMP0002 OLD)
+#  cmake_policy(SET CMP0002 OLD)
   # Libraries linked via full path no longer produce linker search paths.
-  cmake_policy(SET CMP0003 OLD)
+#  cmake_policy(SET CMP0003 OLD)
   # Preprocessor definition values are now escaped automatically.
-  cmake_policy(SET CMP0005 OLD)
+#  cmake_policy(SET CMP0005 OLD)
-  if(POLICY CMP0011)
+#  if(POLICY CMP0011)
     # Included scripts do automatic cmake_policy PUSH and POP.
-    cmake_policy(SET CMP0011 OLD)
+#    cmake_policy(SET CMP0011 OLD)
-  endif(POLICY CMP0011)
+#  endif(POLICY CMP0011)
-endif(COMMAND cmake_policy)
+#endif(COMMAND cmake_policy)
 
 set(CMAKE_OSX_ARCHITECTURES "x86_64")
 

core/roslib/CMakeLists.txt

@@ -1,8 +1,7 @@
 project(roslib)
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS rospack rosunit)
-find_package(ROS REQUIRED COMPONENTS rospack rosunit)
 
-include_directories(include ${Boost_INCLUDE_DIRS} ${ROS_INCLUDE_DIRS})
+include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 # Avoid a boost warning that pops up when using msvc compiler
 if(MSVC)
@@ -10,7 +9,7 @@ if(MSVC)
 endif()
 
 add_library(roslib src/package.cpp)
-target_link_libraries(roslib ${Boost_LIBRARIES} ${ROS_LIBRARIES})
+target_link_libraries(roslib ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 if(NOT (APPLE OR WIN32 OR MINGW))
   target_link_libraries(roslib rt)
@@ -38,7 +37,11 @@ catkin_project(roslib
 #integration tests
 
 add_gtest(${PROJECT_NAME}-utest test/utest.cpp)
-target_link_libraries(${PROJECT_NAME}-utest roslib ${Boost_LIBRARIES} ${ROS_LIBRARIES})
+if(TARGET ${PROJECT_NAME}-utest)
+  target_link_libraries(${PROJECT_NAME}-utest roslib ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+endif()
 
 add_gtest(${PROJECT_NAME}-test_package test/package.cpp)
-target_link_libraries(${PROJECT_NAME}-test_package roslib ${ROS_LIBRARIES})
+if(TARGET ${PROJECT_NAME}-test_package)
+  target_link_libraries(${PROJECT_NAME}-test_package roslib ${catkin_LIBRARIES})
+endif()

core/roslib/src/roslib/packages.py

@@ -46,6 +46,7 @@ import string
 
 from subprocess import Popen, PIPE
 
+from catkin.find_in_workspaces import find_in_workspaces as catkin_find
 import rospkg
 
 import roslib.manifest
@@ -384,7 +385,7 @@ def list_pkgs_by_path(path, packages=None, cache=None, env=None):
             
     return packages
 
-def find_node(pkg, node_type, rospack=None, catkin_packages_cache=None):
+def find_node(pkg, node_type, rospack=None):
     """
     Warning: unstable API due to catkin.
 
@@ -397,40 +398,12 @@ def find_node(pkg, node_type, rospack=None, catkin_packages_cache=None):
 
     if rospack is None:
         rospack = rospkg.RosPack()
-    return find_resource(pkg, node_type, filter_fn=_executable_filter,
+    return find_resource(pkg, node_type, filter_fn=_executable_filter, rospack=rospack)
-                             rospack=rospack, catkin_packages_cache=catkin_packages_cache)
 
 def _executable_filter(test_path):
     s = os.stat(test_path)
     return (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) == (stat.S_IRUSR | stat.S_IXUSR))
-    
-# TODO: this routine really belongs in catkin
-def _load_catkin_packages_cache(catkin_packages_cache, env=None):
-    """
-    env[CATKIN_BINARY_DIR] *must* be set
 
-    :param env: OS environment (defaults to os.environ if None/not set)
-    :param catkin_packages_cache: dictionary to read cache into.
-      Contents of dictionary will be replaced if cache is read. ``dict``
-
-    :raises: :exc:`KeyError` if env[CATKIN_BINARY_DIR] is not set
-    """
-    if env is None:
-        env=os.environ
-    prefix = env[CATKIN_BINARY_DIR]
-    cache_file = os.path.join(prefix, 'etc', 'packages.list')
-    if os.path.isfile(cache_file):
-        catkin_packages_cache.clear()
-        with open(cache_file, 'r') as f:
-            for l in f.readlines():
-                l = l.strip()
-                # Example:
-                # rosconsole ros_comm/tools/rosconsole\n
-                if not l:
-                    continue
-                idx = l.find(' ')
-                catkin_packages_cache[l[:idx]] = os.path.join(prefix, l[idx+1:])
-    
 def _find_resource(d, resource_name, filter_fn=None):
     """
     subroutine of find_resource
@@ -485,7 +458,7 @@ def _find_resource(d, resource_name, filter_fn=None):
 # TODO: this routine really belongs in rospkg, but the catkin-isms really, really don't
 # belong in rospkg.  With more thought, they can probably be abstracted out so as
 # to no longer be catkin-specific. 
-def find_resource(pkg, resource_name, filter_fn=None, rospack=None, catkin_packages_cache=None):
+def find_resource(pkg, resource_name, filter_fn=None, rospack=None):
     """
     Warning: unstable API due to catkin.
 
@@ -499,7 +472,6 @@ def find_resource(pkg, resource_name, filter_fn=None, rospack=None, catkin_packa
     :param filter: function that takes in a path argument and
         returns True if the it matches the desired resource, ``fn(str)``
     :param rospack: `rospkg.RosPack` instance to use
-    :param catkin_packages_cache: dictionary for caching catkin packages.list
     :returns: lists of matching paths for resource within a given scope, ``[str]``
     :raises: :exc:`rospkg.ResourceNotFound` If package does not exist 
     """
@@ -515,21 +487,19 @@ def find_resource(pkg, resource_name, filter_fn=None, rospack=None, catkin_packa
 
     if rospack is None:
         rospack = rospkg.RosPack()
-    if catkin_packages_cache is None:
+
-        catkin_packages_cache = {}
-        
     # lookup package as it *must* exist
     pkg_path = rospack.get_path(pkg)
-    
-    # load catkin packages list, if necessary
-    if CATKIN_BINARY_DIR in os.environ and not catkin_packages_cache:
-        _load_catkin_packages_cache(catkin_packages_cache)
 
     # if found in binary dir, start with that.  in any case, use matches
     # from ros_package_path
     matches = []
-    if pkg in catkin_packages_cache:
+    for search_in in ['libexec', 'share']:
-        matches.extend(_find_resource(catkin_packages_cache[pkg], resource_name, filter_fn=filter_fn))
+        try:
+            search_path = catkin_find(pkg, search_in=[search_in])
+            matches.extend(_find_resource(search_path, resource_name, filter_fn=filter_fn))
+        except RuntimeError:
+            pass
     matches.extend(_find_resource(pkg_path, resource_name, filter_fn=filter_fn))
     # Uniquify the results, in case we found the same file twice
     return list(set(matches))

core/roslib/src/roslib/rosenv.py

@@ -60,7 +60,7 @@ ROS_NAMESPACE    ="ROS_NAMESPACE"
 ## directory in which log files are written
 ROS_LOG_DIR      ="ROS_LOG_DIR"
 ## directory in which test result files are written
-ROS_TEST_RESULTS_DIR = "ROS_TEST_RESULTS_DIR"
+CATKIN_TEST_RESULTS_DIR = "CATKIN_TEST_RESULTS_DIR"
 
 class ROSEnvException(Exception):
     """Base class of roslib.rosenv errors."""
@@ -189,9 +189,9 @@ def get_log_dir(env=None):
 def get_test_results_dir(env=None):
     """
     Get directory to use for writing test result files. There are multiple
-    possible locations for this. The ROS_TEST_RESULTS_DIR environment variable
+    possible locations for this. The CATKIN_TEST_RESULTS_DIR environment variable
-    has priority. If that is set, ROS_TEST_RESULTS_DIR is returned.
+    has priority. If that is set, CATKIN_TEST_RESULTS_DIR is returned.
-    If ROS_TEST_RESULTS_DIR is not set, then ROS_HOME/test_results is used. If
+    If CATKIN_TEST_RESULTS_DIR is not set, then ROS_HOME/test_results is used. If
     ROS_HOME is not set, $HOME/.ros/test_results is used.
 
     @param env: environment dictionary (defaults to os.environ)
@@ -202,8 +202,8 @@ def get_test_results_dir(env=None):
     if env is None:
         env = os.environ
         
-    if ROS_TEST_RESULTS_DIR in env:
+    if CATKIN_TEST_RESULTS_DIR in env:
-        return env[ROS_TEST_RESULTS_DIR]
+        return env[CATKIN_TEST_RESULTS_DIR]
     else:
         return os.path.join(get_ros_home(env), 'test_results')
 

env-hooks/10.ros.all.in

@@ -1,15 +0,0 @@
-#
-#  Installed ROS env file
-#  This file was automatically generated.
-#
-
-# Scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
-PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'unstable'] if d in x])]))"`
-
-export ROS_ROOT=@CMAKE_INSTALL_PREFIX@/share/ros
-export ROS_PACKAGE_PATH=@CMAKE_INSTALL_PREFIX@/share:@CMAKE_INSTALL_PREFIX@/stacks
-if [ ! "$ROS_MASTER_URI" ] ; then
-    export ROS_MASTER_URI=http://localhost:11311
-fi
-export ROS_ETC_DIR=@CMAKE_INSTALL_PREFIX@/etc/ros
-export ROS_DISTRO=fuerte

env-hooks/10.ros.bat.in

@@ -0,0 +1,20 @@
+REM generated from ros/env-hooks/10.ros.bat.in
+
+REM scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
+PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
+
+export ROS_DISTRO=groovy
+if "%ROS_MASTER_URI%" EQ "" (
+    export ROS_MASTER_URI=http://localhost:11311
+)
+
+if @ENV_BUILDSPACE@ (
+    export ROS_PACKAGE_PATH=@CMAKE_SOURCE_DIR@
+    export ROS_ROOT=@CMAKE_CURRENT_SOURCE_DIR@
+    export ROS_ETC_DIR=@catkin_BUILD_PREFIX@/etc/ros
+)
+if @ENV_INSTALLSPACE@ (
+    export ROS_PACKAGE_PATH=@CMAKE_INSTALL_PREFIX@/share:@CMAKE_INSTALL_PREFIX@/stacks
+    export ROS_ROOT=@CMAKE_INSTALL_PREFIX@/share/ros
+    export ROS_ETC_DIR=@CMAKE_INSTALL_PREFIX@/etc/ros
+)

env-hooks/10.ros.buildspace.all.in

@@ -1,16 +0,0 @@
-#
-#  Buildspace ROS env file.
-#  This file was automatically generated.
-#
-
-# Scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
-PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'unstable'] if d in x])]))"`
-
-#No ROS_ROOT in buildspace, ROS_ROOT is only for legacy (dry) builds
-export ROS_TEST_RESULTS_DIR=@CMAKE_BINARY_DIR@/test_results
-export ROS_PACKAGE_PATH=@CMAKE_SOURCE_DIR@
-export ROS_DISTRO=fuerte
-export PATH=@CMAKE_SOURCE_DIR@/ros/bin:$PATH
-if [ ! "$ROS_MASTER_URI" ] ; then
-    export ROS_MASTER_URI=http://localhost:11311
-fi

env-hooks/10.ros.sh.in

@@ -0,0 +1,20 @@
+# generated from ros/env-hooks/10.ros.sh.in
+
+# scrub old ROS bin dirs, to avoid accidentally finding the wrong executables
+PATH=`python -c "import os; print(os.pathsep.join([x for x in \"$PATH\".split(os.pathsep) if not any([d for d in ['cturtle', 'diamondback', 'electric', 'fuerte'] if d in x])]))"`
+
+export ROS_DISTRO=groovy
+if [ ! "$ROS_MASTER_URI" ] ; then
+    export ROS_MASTER_URI=http://localhost:11311
+fi
+
+if @ENV_BUILDSPACE@; then
+    export ROS_PACKAGE_PATH=@CMAKE_SOURCE_DIR@
+    export ROS_ROOT=@CMAKE_CURRENT_SOURCE_DIR@
+    export ROS_ETC_DIR=@catkin_BUILD_PREFIX@/etc/ros
+fi
+if @ENV_INSTALLSPACE@; then
+    export ROS_PACKAGE_PATH=@CMAKE_INSTALL_PREFIX@/share:@CMAKE_INSTALL_PREFIX@/stacks
+    export ROS_ROOT=@CMAKE_INSTALL_PREFIX@/share/ros
+    export ROS_ETC_DIR=@CMAKE_INSTALL_PREFIX@/etc/ros
+fi

env-hooks/CMakeLists.txt

@@ -1,3 +0,0 @@
-catkin_add_env_hooks(10.ros
-  SHELLS all
-  )

tools/rosbash/15.rosbash.bash.in

@@ -1,2 +1,6 @@
-. @CMAKE_INSTALL_PREFIX@/share/rosbash/rosbash
+if @ENV_BUILDSPACE@; then
-
+    . @CMAKE_CURRENT_SOURCE_DIR@/rosbash
+fi
+if @ENV_INSTALLSPACE@; then
+    . @CMAKE_INSTALL_PREFIX@/share/rosbash/rosbash
+fi

tools/rosbash/15.rosbash.buildspace.bash.in

@@ -1,2 +0,0 @@
-. @CMAKE_CURRENT_SOURCE_DIR@/rosbash
-

tools/rosbash/15.rosbash.buildspace.zsh.in

@@ -1,2 +0,0 @@
-. @CMAKE_CURRENT_SOURCE_DIR@/roszsh
-

tools/rosbash/15.rosbash.tcsh.in

@@ -0,0 +1,6 @@
+if @ENV_BUILDSPACE@; then
+    . @CMAKE_CURRENT_SOURCE_DIR@/rostcsh
+fi
+if @ENV_INSTALLSPACE@; then
+    . @CMAKE_INSTALL_PREFIX@/share/rosbash/rostcsh
+fi

tools/rosbash/15.rosbash.zsh.in

@@ -1,2 +1,6 @@
-. @CMAKE_INSTALL_PREFIX@/share/rosbash/roszsh
+if @ENV_BUILDSPACE@; then
-
+    . @CMAKE_CURRENT_SOURCE_DIR@/roszsh
+fi
+if @ENV_INSTALLSPACE@; then
+    . @CMAKE_INSTALL_PREFIX@/share/rosbash/roszsh
+fi

tools/rosbash/CMakeLists.txt

@@ -8,9 +8,7 @@ install(PROGRAMS scripts/rosrun
 message(STATUS "   Making toplevel forward script for bash script rosrun")
 set(BASH_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/scripts/rosrun)
 configure_file(${catkin_EXTRAS_DIR}/templates/script.bash.in
-  ${CMAKE_BINARY_DIR}/bin/rosrun
+  ${catkin_BUILD_PREFIX}/bin/rosrun
   @ONLY)
 
-catkin_add_env_hooks(15.rosbash
+catkin_add_env_hooks(15.rosbash SHELLS bash tcsh zsh)
-  SHELLS bash zsh
-  )

tools/rosbash/rosbash

@@ -219,22 +219,16 @@ function rosls {
 
 # sets arg as return value
 function _roscmd {
-    local pkgdir exepath opt catkin_source_dir catkin_binary_dir opts
+    local pkgdir exepath opt catkin_project_libexec_dir opts
-    if [[ -n $CATKIN_SOURCE_DIR ]]; then
+    if [[ -n $CATKIN_WORKSPACES ]]; then
-        catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= _ros_package_find $1`
+        catkin_project_libexec_dir=`catkin-find $1 --libexec 2> /dev/null`
-    fi 
+    fi
-    if [[ -n $CATKIN_BINARY_DIR && -f $CATKIN_BINARY_DIR/etc/packages.list ]]; then
-        cbd=`grep $1 $CATKIN_BINARY_DIR/etc/packages.list | cut -d " " -f 2`
-        if [[ -n $cbd ]]; then
-          catkin_binary_dir=$CATKIN_BINARY_DIR/$cbd
-        fi
-    fi 
     pkgdir=`_ros_package_find $1`
-    if [[ -z $catkin_source_dir && -z $catkin_binary_dir && -z $pkgdir ]]; then
+    if [[ -z $catkin_project_libexec_dir && -z $pkgdir ]]; then
         echo "Couldn't find package [$1]"
         return 1
     fi
-    exepath=(`find -L $catkin_source_dir $catkin_binary_dir $pkgdir -name $2 -type f ! -regex .*/[.].* ! -regex .*$pkgdir\/build\/.* | uniq`)
+    exepath=(`find -L $catkin_project_libexec_dir $pkgdir -name $2 -type f ! -regex .*/[.].* ! -regex .*$pkgdir\/build\/.* | uniq`)
     if [[ ${#exepath[@]} == 0 ]] ; then
         echo "That file does not exist in that package."
         return 1
@@ -423,18 +417,12 @@ function _roscomplete_search_dir {
         COMPREPLY=($(compgen -W "${opts}" -- ${arg}))
         unset IFS
     elif [[ $COMP_CWORD == 2 ]]; then
-        if [[ -n "$CATKIN_SOURCE_DIR" ]]; then
+        if [[ -n $CATKIN_WORKSPACES ]]; then
-            catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= _ros_package_find ${COMP_WORDS[1]}`
+            catkin_project_libexec_dir=`catkin-find ${COMP_WORDS[1]} --libexec 2> /dev/null`
-        fi 
+        fi
-        if [[ -n $CATKIN_BINARY_DIR && -f $CATKIN_BINARY_DIR/etc/packages.list ]]; then
-            cbd=`grep ${COMP_WORDS[1]} $CATKIN_BINARY_DIR/etc/packages.list | cut -d " " -f 2`
-            if [[ -n $cbd ]]; then
-              catkin_binary_dir=$CATKIN_BINARY_DIR/$cbd
-            fi
-        fi 
         pkgdir=`_ros_package_find ${COMP_WORDS[1]}`
-        if [[ -n "$catkin_source_dir" || -n "$catkin_binary_dir" || -n "$pkgdir" ]]; then
+        if [[ -n "$catkin_project_libexec_dir_dir" || -n "$pkgdir" ]]; then
-            opts=`_rosfind -L $catkin_source_dir $catkin_binary_dir $pkgdir ${1} ! -regex ".*/[.].*" ! -regex ".*$pkgdir\/build\/.*"  -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)/\1/g"`
+            opts=`_rosfind -L $catkin_project_libexec_dir $pkgdir ${1} ! -regex ".*/[.].*" ! -regex ".*$pkgdir\/build\/.*"  -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)/\1/g"`
         else
             opts=""
         fi

tools/rosbash/scripts/rosrun

@@ -21,24 +21,18 @@ case $2 in
 esac 
 # basename also makes .//foo into foo 
 basename=`basename $2`
-if [[ -n $CATKIN_SOURCE_DIR ]]; then
+if [[ -n $CATKIN_WORKSPACES ]]; then
-    catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= rospack find $1`
+    catkin_project_libexec_dir=`catkin-find $1 --libexec 2> /dev/null`
-fi 
+fi
-if [[ -n $CATKIN_BINARY_DIR && -f $CATKIN_BINARY_DIR/etc/packages.list ]]; then
-    cbd=`grep $1 $CATKIN_BINARY_DIR/etc/packages.list | cut -d " " -f 2`
-    if [[ -n $cbd ]]; then
-      catkin_binary_dir=$CATKIN_BINARY_DIR/$cbd
-    fi
-fi 
 pkgdir=`rospack find $1`
-if [[ -z $catkin_source_dir && -z $catkin_binary_dir && -z $pkgdir ]]; then
+if [[ -z $catkin_project_libexec_dir && -z $pkgdir ]]; then
     exit 2
 fi
 if [[ ! $2 == */* ]]; then 
   # The -perm /mode usage is not available in find on the Mac
   #exepathlist=(`find $pkgdir -name $2 -type f -perm /u+x,g+x,o+x`)
   # -L: #3475
-  exepathlist=(`find -L $catkin_source_dir $catkin_binary_dir $pkgdir -name $2 -type f  -perm +111 ! -regex ".*$pkgdir\/build\/.*" | uniq`)
+  exepathlist=(`find -L $catkin_project_libexec_dir $pkgdir -name $2 -type f  -perm +111 ! -regex ".*$pkgdir\/build\/.*" | uniq`)
   if [[ ${#exepathlist[@]} == 0 ]] ; then
     echo "[rosrun] Couldn't find executable named $2 below $pkgdir"
     nonexepathlist=(`find -H $pkgdir -name $2`)

tools/rosunit/cmake/rosunit-extras.cmake.in

@@ -1,5 +1,5 @@
 macro(rosunit_initialize_tests)
-  if(rosunit_SOURCE_DIR)
+  if (@PKG_BUILDSPACE@)
     find_program_required(ROSUNIT_EXE rosunit
                           PATHS @PROJECT_SOURCE_DIR@/scripts
                           NO_DEFAULT_PATH)