use catkin_virtualenv for respeaker_ros

jsk-ros-pkg · Dec 6, 2022 · ab9d0dd · ab9d0dd
1 parent 279ff19
commit ab9d0dd
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Showing 6 changed files with 30 additions and 3 deletions.
diff --git a/respeaker_ros/CMakeLists.txt b/respeaker_ros/CMakeLists.txt
@@ -1,22 +1,41 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(respeaker_ros)
 
-find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure)
+find_package(catkin REQUIRED COMPONENTS
+  catkin_virtualenv
+  dynamic_reconfigure
+)
 
 generate_dynamic_reconfigure_options(
   cfg/Respeaker.cfg
 )
 
 catkin_package()
 
+if($ENV{ROS_DISTRO} STRGREATER "melodic")
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+    )
+else()
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python2
+    )
+endif()
+
 install(DIRECTORY config launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 file(GLOB PYTHON_SCRIPTS scripts/*.py)
 catkin_install_python(PROGRAMS ${PYTHON_SCRIPTS}
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
-  add_rostest(test/sample_respeaker.test)
+  add_rostest(test/sample_respeaker.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+  )
 endif()
diff --git a/respeaker_ros/package.xml b/respeaker_ros/package.xml
@@ -8,7 +8,9 @@
   <author email="furushchev@jsk.imi.i.u-tokyo.ac.jp">Yuki Furuta</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
+
   <exec_depend>angles</exec_depend>
   <exec_depend>audio_common_msgs</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
@@ -23,6 +25,11 @@
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pyaudio</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pyaudio</exec_depend>
   <exec_depend>python-pyusb-pip</exec_depend>
-  <exec_depend>python-speechrecognition-pip</exec_depend>
+
   <test_depend>jsk_tools</test_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+
 </package>
diff --git a/respeaker_ros/requirements.txt b/respeaker_ros/requirements.txt
@@ -0,0 +1 @@
+SpeechRecognition==3.8.1
diff --git a/respeaker_ros/scripts/respeaker_gencfg.py b/respeaker_ros/scripts/respeaker_gencfg.py
diff --git a/respeaker_ros/scripts/respeaker_node.py b/respeaker_ros/scripts/respeaker_node.py
diff --git a/respeaker_ros/scripts/speech_to_text.py b/respeaker_ros/scripts/speech_to_text.py