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Borja Outerelo
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Merge branch 'developJ' into 'develop'
Develop j See merge request eProsima/micro-ros-agent!1
2 parents 7f3931f + 463dcb8 commit 1d106a8

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‎CMakeLists.txt‎

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# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Set CMake version
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cmake_minimum_required(VERSION 3.5)
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# Set proyect name
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project(micro_ros_agent)
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# Find packages depencences
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find_package(ament_cmake REQUIRED)
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find_package(fastcdr REQUIRED CONFIG)
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find_package(fastrtps REQUIRED CONFIG)
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find_package(micrortps_agent REQUIRED CONFIG)
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find_package(ament_cmake_python REQUIRED)
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# Export dependencies to downstream packages
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ament_export_dependencies(fastcdr)
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ament_export_dependencies(fastrtps)
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ament_export_dependencies(micrortps_agent)
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# Install python files
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ament_python_install_package(${PROJECT_NAME})
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# Register package resource in order to be called when a new msg package is generated
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ament_index_register_resource("rosidl_typesupport_c")
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# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
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ament_package(
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CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
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)
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install(
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PROGRAMS bin/micro_ros_agent
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DESTINATION lib/micro_ros_agent
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)
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install(
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DIRECTORY cmake resource
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DESTINATION share/${PROJECT_NAME}
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)

‎bin/micro_ros_agent‎

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#!/usr/bin/env python3
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import argparse
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import os
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import sys
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from rosidl_cmake import read_generator_arguments
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from rosidl_parser import UnknownMessageType
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from micro_ros_agent import generate_micro_ros_agent_xml_support
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def is_valid_file(parser, file_name):
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if not os.path.exists(file_name):
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parser.error("File does not exist: '{0}'".format(file_name))
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file_name_abs = os.path.abspath(file_name)
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if not os.path.isfile(file_name_abs):
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parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
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return file_name
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def main(argv=sys.argv[1:]):
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parser = argparse.ArgumentParser(
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description='Generate xml files for micrortps agent.',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument(
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'--generator-arguments-file',
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required=True,
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help='The location of the file containing the generator arguments')
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args = parser.parse_args(argv)
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generator_args = read_generator_arguments(args.generator_arguments_file)
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try:
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rc = generate_micro_ros_agent_xml_support(generator_args)
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return 0
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except UnknownMessageType as e:
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print(str(e), file=sys.stderr)
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return 1
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if rc:
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return rc
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return 0
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if __name__ == '__main__':
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sys.exit(main())

‎cmake/micrortps_agent_xml_generator.cmake‎

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# Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# list msg files
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set(_ros_idl_files "")
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foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
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get_filename_component(_extension "${_idl_file}" EXT)
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# Skip .srv files
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if(_extension STREQUAL ".msg")
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list(APPEND _ros_idl_files "${_idl_file}")
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endif()
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endforeach()
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# Set output dir
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set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/../micro_ros_agent/xml_gen")
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# check if all templates exits
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set(target_dependencies
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"${micro_ros_agent_BIN}"
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"${micro_ros_agent_GENERATOR_FILES}"
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${rosidl_generate_interfaces_IDL_FILES}
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${_dependency_files})
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foreach(dep ${target_dependencies})
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if(NOT EXISTS "${dep}")
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message(FATAL_ERROR "Target dependency '${dep}' does not exist")
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endif()
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endforeach()
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# generate script argument file
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set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent__arguments.json")
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rosidl_write_generator_arguments(
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"${generator_arguments_file}"
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PACKAGE_NAME "${PROJECT_NAME}"
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ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
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ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
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OUTPUT_DIR "${_output_path}"
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TEMPLATE_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}"
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TARGET_DEPENDENCIES ${target_dependencies}
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ADDITIONAL_FILES ${_dds_idl_files}
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)
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# Execute python script
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execute_process(
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COMMAND ${PYTHON_EXECUTABLE} ${micro_ros_agent_BIN}
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--generator-arguments-file "${generator_arguments_file}"
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)
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#Install
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install(
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DIRECTORY "${_output_path}/"
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DESTINATION "../micrortps_agent/bin"
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)

‎micro_ros_agent-extras.cmake.in‎

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find_package(ament_cmake_core QUIET REQUIRED)
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ament_register_extension(
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"rosidl_generate_interfaces"
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"micro_ros_agent"
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"micrortps_agent_xml_generator.cmake")
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set(micro_ros_agent_BIN "${micro_ros_agent_DIR}/../../../lib/micro_ros_agent/micro_ros_agent")
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normalize_path(micro_ros_agent_BIN "${micro_ros_agent_BIN}")
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set(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_DIR}/../../../@PYTHON_INSTALL_DIR@/micro_ros_agent/__init__.py")
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normalize_path(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_GENERATOR_FILES}")
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set(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DIR}/../resource")
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normalize_path(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}")

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