Hi all, As part of an effort of bringing ros (http://www.ros.org/) to Gentoo, I've come up with the following design:
ros-catkin.eclass that is a template, merging all common code for catkinized ros packages. ROS_MESSAGES will be a new USE_EXPANDed variable: ROS is message based, processes write and listen to some topic, and a topic is typed with a message. Messages are defined by simple text files but are then pre-processed for easy usage in C++, Python & co. Several packages are usually bundled in a single repository, with a meta-package pulling all the others. Hence, I came with two new categories: dev-ros for single packages, ros-meta for those meta-packages. Some numbers: /bin/ls ros-meta | wc -l 52 /bin/ls dev-ros | wc -l 350 I think maybe half of them are in a state that they can be added to gentoo-x86. ebuild example: $ cat roslib-1.12.2.ebuild # Copyright 1999-2014 Gentoo Foundation # Distributed under the terms of the GNU General Public License v2 # $Header: $ EAPI=5 ROS_REPO_URI="https://github.com/ros/ros"; KEYWORDS="~amd64 ~arm" PYTHON_COMPAT=( python{2_7,3_3,3_4} ) ROS_SUBDIR=core/${PN} inherit ros-catkin DESCRIPTION="Base dependencies and support libraries for ROS" LICENSE="BSD" SLOT="0" IUSE="" RDEPEND=" dev-python/rospkg[${PYTHON_USEDEP}] dev-libs/boost:=[threads] dev-ros/rospack " DEPEND="${RDEPEND} test? ( dev-ros/rosmake ros-meta/ros )" Eclass inlined at the end. Best regards, Alexis. # Copyright 1999-2015 Gentoo Foundation # Distributed under the terms of the GNU General Public License v2 # $Id$ # @ECLASS: ros-catkin.eclass # @MAINTAINER: # r...@gentoo.org # @AUTHOR: # Alexis Ballier <aball...@gentoo.org> # @BLURB: Template eclass for catkin based ROS packages. # @DESCRIPTION: # Provides function for building ROS packages on Gentoo. # It supports selectively building messages, multi-python installation, live ebuilds (git only). # @ECLASS-VARIABLE: ROS_REPO_URI # @DESCRIPTION: # URL of the upstream repository. Usually on github. # Serves for fetching tarballs, live ebuilds and inferring the meta-package name. EGIT_REPO_URI="${ROS_REPO_URI}" # @ECLASS-VARIABLE: ROS_SUBDIR # @DEFAULT_UNSET # @DESCRIPTION: # Subdir in which current packages is located. # Usually, a repository contains several packages, hence a typical value is: # ROS_SUBDIR=${PN} SCM="" if [ "${PV#9999}" != "${PV}" ] ; then SCM="git-r3" fi # @ECLASS-VARIABLE: PYTHON_COMPAT # @DESCRIPTION: # Tells the eclass the package has python code and forwards it to python-r1.eclass. PYTHON_ECLASS="" CATKIN_PYTHON_USEDEP="" if [ -n "${PYTHON_COMPAT}" ] ; then PYTHON_ECLASS="python-r1 python-utils-r1" fi inherit ${SCM} ${PYTHON_ECLASS} cmake-utils CATKIN_DO_PYTHON_MULTIBUILD="" if [ -n "${PYTHON_COMPAT}" ] ; then CATKIN_PYTHON_USEDEP="[${PYTHON_USEDEP}]" CATKIN_DO_PYTHON_MULTIBUILD="yes" fi IUSE="test" RDEPEND=" dev-util/catkin${CATKIN_PYTHON_USEDEP} dev-python/empy${CATKIN_PYTHON_USEDEP} " DEPEND="${RDEPEND}" if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then RDEPEND="${RDEPEND} dev-lang/python-exec:2" fi # @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES # @DESCRIPTION: # Set it to a non-empty value before inherit to tell the eclass the package has messages to build. # Messages will be built based on ROS_MESSAGES USE_EXPANDed variable. # @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS # @DESCRIPTION: # Some messages have dependencies on other messages. # In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms # representing those dependencies. The eclass uses it to ensure proper dependencies on these packages. if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then IUSE="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp" RDEPEND="${RDEPEND} ros_messages_cxx? ( dev-ros/gencpp:=${CATKIN_PYTHON_USEDEP} ) ros_messages_eus? ( dev-ros/geneus:=${CATKIN_PYTHON_USEDEP} ) ros_messages_python? ( dev-ros/genpy:=${CATKIN_PYTHON_USEDEP} ) ros_messages_lisp? ( dev-ros/genlisp:=${CATKIN_PYTHON_USEDEP} ) dev-ros/message_runtime " DEPEND="${DEPEND} ${RDEPEND} dev-ros/message_generation dev-ros/genmsg${CATKIN_PYTHON_USEDEP} " if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do ds="${i}[ros_messages_python?,ros_messages_cxx?,ros_messages_lisp?,ros_messages_eus?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )" RDEPEND="${RDEPEND} ${ds}" DEPEND="${DEPEND} ${ds}" done fi fi # @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP # @DESCRIPTION: # Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg. CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx" # @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP # @DESCRIPTION: # Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg. CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python,${PYTHON_USEDEP}" # @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP # @DESCRIPTION: # Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg. CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp" # @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP # @DESCRIPTION: # Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg. CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus" if [ "${PV#9999}" != "${PV}" ] ; then SRC_URI="" KEYWORDS="" S=${WORKDIR}/${P}/${ROS_SUBDIR} else SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz" S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}/${ROS_SUBDIR} fi HOMEPAGE="http://wiki.ros.org/${PN}"; # @FUNCTION: ros-catkin_src_prepare # @DESCRIPTION: # Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace # by installing a recursive CMakeLists.txt to handle bundles. ros-catkin_src_prepare() { cmake-utils_src_prepare if [ ! -f "${S}/CMakeLists.txt" ] ; then catkin_init_workspace || die fi } # @FUNCTION: ros-catkin_src_configure_internal # @DESCRIPTION: # Internal decoration of cmake-utils_src_configure to handle multiple python installs. ros-catkin_src_configure_internal() { if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then local mycmakeargs=("${mycmakeargs[@]}" -DPYTHON_EXECUTABLE="${PYTHON}") python_export PYTHON_SCRIPTDIR fi cmake-utils_src_configure } # @VARIABLE: mycatkincmakeargs # @DEFAULT_UNSET # @DESCRIPTION: # Optional cmake defines as a bash array. Should be defined before calling # src_configure. # @FUNCTION: ros-catkin_src_configure # @DESCRIPTION: # Configures a catkin-based package. ros-catkin_src_configure() { export CMAKE_PREFIX_PATH="${EPREFIX}/usr" export ROS_ROOT="${EPREFIX}/usr/share/ros" if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then ROS_LANG_DISABLE="" use ros_messages_cxx || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp" use ros_messages_eus || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus" use ros_messages_lisp || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp" use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy" export ROS_LANG_DISABLE fi local mycmakeargs=( "$(cmake-utils_use test CATKIN_ENABLE_TESTING)" "-DCATKIN_BUILD_BINARY_PACKAGE=ON" "-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr" "${mycatkincmakeargs[@]}" ) if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then python_foreach_impl ros-catkin_src_configure_internal else ros-catkin_src_configure_internal fi } # @FUNCTION: ros-catkin_src_compile # @DESCRIPTION: # Builds a catkin-based package. ros-catkin_src_compile() { if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then python_foreach_impl cmake-utils_src_compile else cmake-utils_src_compile fi } # @FUNCTION: ros-catkin_src_test_internal # @DESCRIPTION: # Decorator around cmake-utils_src_test to ensure tests are built before running them. ros-catkin_src_test_internal() { cd "${BUILD_DIR}" if nonfatal emake tests -n &> /dev/null ; then emake VERBOSE=1 tests || die fi cmake-utils_src_test } # @FUNCTION: ros-catkin_src_test # @DESCRIPTION: # Run the tests of a catkin-based package. ros-catkin_src_test() { if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then python_foreach_impl ros-catkin_src_test_internal else ros-catkin_src_test_internal fi } # @FUNCTION: ros-catkin_src_install_with_python # @DESCRIPTION: # Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2. ros-catkin_src_install_with_python() { python_export PYTHON_SCRIPTDIR cmake-utils_src_install if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then dodir /usr/bin for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}" || die done touch "${T}/.catkin_python_symlinks_generated" fi } # @FUNCTION: ros-catkin_src_install # @DESCRIPTION: # Installs a catkin-based package. ros-catkin_src_install() { if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then python_foreach_impl ros-catkin_src_install_with_python else cmake-utils_src_install fi } EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install
