117 lines
4.0 KiB
CMake
117 lines
4.0 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(robot_speaker)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(interfaces REQUIRED)
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# 确保使用系统 Python（而不是 conda/miniconda 的 Python）
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find_program(PYTHON3_CMD python3 PATHS /usr/bin /usr/local/bin NO_DEFAULT_PATH)
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if(NOT PYTHON3_CMD)
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find_program(PYTHON3_CMD python3)
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endif()
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if(PYTHON3_CMD)
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set(Python3_EXECUTABLE ${PYTHON3_CMD} CACHE FILEPATH "Python 3 executable" FORCE)
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set(PYTHON_EXECUTABLE ${PYTHON3_CMD} CACHE FILEPATH "Python executable" FORCE)
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endif()
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install(CODE "
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execute_process(
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COMMAND ${PYTHON3_CMD} -m pip install --prefix=${CMAKE_INSTALL_PREFIX} --no-deps ${CMAKE_CURRENT_SOURCE_DIR}
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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RESULT_VARIABLE install_result
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OUTPUT_VARIABLE install_output
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ERROR_VARIABLE install_error
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)
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if(NOT install_result EQUAL 0)
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message(FATAL_ERROR \"Failed to install Python package. Output: ${install_output} Error: ${install_error}\")
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endif()
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execute_process(
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COMMAND ${PYTHON3_CMD} -c \"
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import os
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import shutil
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import glob
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import sysconfig
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install_prefix = '${CMAKE_INSTALL_PREFIX}'
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build_dir = '${CMAKE_CURRENT_BINARY_DIR}'
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python_version = f'{sysconfig.get_python_version()}'
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# ROS2 期望的 Python 包位置
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ros2_site_packages = os.path.join(install_prefix, 'lib', f'python{python_version}', 'site-packages')
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os.makedirs(ros2_site_packages, exist_ok=True)
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# pip install --prefix 可能将包安装到不同位置（系统环境通常是 local/lib/pythonX/dist-packages）
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pip_locations = [
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os.path.join(install_prefix, 'local', 'lib', f'python{python_version}', 'dist-packages'),
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os.path.join(install_prefix, 'lib', f'python{python_version}', 'site-packages'),
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os.path.join(install_prefix, 'local', 'lib', f'python{python_version}', 'site-packages'),
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]
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# 查找并复制 robot_speaker 包到 ROS2 期望的位置
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robot_speaker_src = None
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for location in pip_locations:
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candidate = os.path.join(location, 'robot_speaker')
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if os.path.exists(candidate) and os.path.isdir(candidate):
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robot_speaker_src = candidate
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break
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if robot_speaker_src:
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robot_speaker_dest = os.path.join(ros2_site_packages, 'robot_speaker')
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if os.path.exists(robot_speaker_dest):
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shutil.rmtree(robot_speaker_dest)
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if robot_speaker_src != robot_speaker_dest:
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shutil.copytree(robot_speaker_src, robot_speaker_dest)
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print(f'Copied robot_speaker from {robot_speaker_src} to {ros2_site_packages}')
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else:
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print(f'robot_speaker already in correct location')
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# 处理 entry_points 脚本
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lib_dir = os.path.join(install_prefix, 'lib', 'robot_speaker')
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os.makedirs(lib_dir, exist_ok=True)
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# 脚本可能在 local/bin 或 bin 中
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for bin_dir in [os.path.join(install_prefix, 'local', 'bin'), os.path.join(install_prefix, 'bin')]:
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if os.path.exists(bin_dir):
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scripts = glob.glob(os.path.join(bin_dir, '*_node'))
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for script in scripts:
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script_name = os.path.basename(script)
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dest = os.path.join(lib_dir, script_name)
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if script != dest:
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shutil.copy2(script, dest)
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os.chmod(dest, 0o755)
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print(f'Copied {script_name} to {lib_dir}')
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\"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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RESULT_VARIABLE python_result
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OUTPUT_VARIABLE python_output
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)
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if(python_result EQUAL 0)
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message(STATUS \"${python_output}\")
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else()
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message(WARNING \"Failed to setup Python package: ${python_output}\")
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endif()
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")
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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FILES_MATCHING PATTERN "*.launch.py"
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)
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install(DIRECTORY config/
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DESTINATION share/${PROJECT_NAME}/config
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FILES_MATCHING PATTERN "*.yaml" PATTERN "*.json"
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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