catkin: add support for SDK

recipes-devtools/python/python-catkin-pkg.inc

@@ -12,4 +12,4 @@ inherit pypi
 RDEPENDS_${PN} = "${PYTHON_PN}-unixadmin"
 RDEPENDS_${PN}_class-native = ""
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"

recipes-devtools/python/python-empy.inc

@@ -10,4 +10,4 @@ SRC_URI[sha256sum] = "99f016af2770c48ab57a65df7aae251360dc69a1514c15851458a71d4d
 
 S = "${WORKDIR}/${SRCNAME}-${PV}"
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"

recipes-ros/catkin/catkin-runtime_0.6.19.bb

@@ -32,8 +32,22 @@ do_install_append() {
     touch ${D}${ros_prefix}/.catkin
 }
 
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+
+    script=${D}${SDKPATHNATIVE}/environment-setup.d/catkin-runtime.sh
+    echo "export ROSDISTRO=${ROSDISTRO}" >> $script
+    echo "export PATH=\$PATH:\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/bin" >> $script
+    echo "export PYTHONPATH=\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/lib/python2.7/site-packages" >> $script
+    echo "export ROS_ROOT=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}/share/ros" >> $script
+    echo "export CMAKE_PREFIX_PATH=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}:\${OECORE_NATIVE_SYSROOT}/opt/ros/${ROSDISTRO}" >> $script
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
 catkin_sysroot_preprocess_append() {
     install -m 644 -t ${SYSROOT_DESTDIR}${ros_prefix} ${D}${ros_prefix}/.catkin
 }
 
-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"

recipes-ros/catkin/catkin_0.6.19.bb

@@ -1,5 +1,7 @@
 require catkin.inc
 
+SRC_URI += "file://environment.d-catkin.sh"
+
 DEPENDS_class-native += "catkin-runtime"
 
 # The files in ${PYTHON_SITEPACKAGES_DIR} and catkin_find are
@@ -27,4 +29,12 @@ do_install_append() {
     rmdir ${D}${ros_libdir}/${PYTHON_DIR}
 }
 
-BBCLASSEXTEND += "native"
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+    install -m 644 ${WORKDIR}/environment.d-catkin.sh ${D}${SDKPATHNATIVE}/environment-setup.d/catkin.sh
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
+BBCLASSEXTEND += "native nativesdk"

recipes-ros/catkin/files/environment.d-catkin.sh

@@ -0,0 +1,10 @@
+alias catkin_make=" \
+    catkin_make \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"
+alias catkin_make_isolated=" \
+    catkin_make_isolated \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"