Fix symlink-install compilation

rmf_fleet_adapter_python/CMakeLists.txt

@@ -29,11 +29,10 @@ include_directories(
   ${rmf_fleet_adapter_INCLUDE_DIRS}
 )
 
-# pybind11 is installed by the pybind_ament package
-# You must have the pybind_ament package in your workspace somewhere!
+find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
 
-pybind11_add_module(rmf_adapter
+pybind11_add_module(rmf_adapter SHARED
   src/adapter.cpp
   src/tests.cpp
   src/types/types.cpp
@@ -46,6 +45,7 @@ pybind11_add_module(rmf_adapter
   src/battery/battery.cpp
   src/schedule/schedule.cpp
 )
+
 target_link_libraries(rmf_adapter PRIVATE
   rmf_fleet_adapter::rmf_fleet_adapter)
 
@@ -65,4 +65,46 @@ target_include_directories(rmf_adapter
     ${rmf_lift_msgs_INCLUDE_DIRS}
 )
 
-# NO AMENT PACKAGE! That's settled by setup.py
+# Locate ament_package template files.
+set(PYTHON_INSTALL_DIR "lib/python${PYTHON_MAJOR_MINOR}/site-packages")
+
+# Install library for actual use
+install(TARGETS rmf_adapter
+  DESTINATION "${PYTHON_INSTALL_DIR}"
+)
+
+# Install Python modules
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  scripts/test_adapter.py
+  scripts/test_utils.py
+  scripts/test_loop.py
+  scripts/test_delivery.py
+  scripts/traffic_light.py
+  scripts/schedule_blockade_nodes.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Unit Tests
+find_package(ament_cmake_pytest REQUIRED)
+
+if(BUILD_TESTING)
+  set(_rmf_fleet_adapter_python_tests
+    tests/unit/test_geometry.py
+    tests/unit/test_graph.py
+    tests/unit/test_RobotCommandHandle.py
+    tests/unit/test_types.py
+    tests/unit/test_vehicletraits.py
+  )
+
+  foreach(_test_path ${_rmf_fleet_adapter_python_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      TIMEOUT 120
+      WERROR ON
+    )
+  endforeach()
+endif()
+
+ament_package()

rmf_fleet_adapter_python/README.md

@@ -24,7 +24,7 @@ The `MockAdapter` and `Adapter` both do this. But the difference is that `MockAd
 Integration test script for rmf loop and delivery task:
 
 ```shell
-ros2 run rmf_fleet_adapter_python test_adapter
+ros2 run rmf_fleet_adapter_python test_adapter.py
 ```
 
 You may then probe the effects on the ROS2 graph by subscribing to the following topics with `ros2 topic echo <TOPIC_NAME>`:

rmf_fleet_adapter_python/package.xml

@@ -6,11 +6,13 @@
   <description>Python bindings for the rmf_fleet_adapter</description>
   <maintainer email="methylDragon@gmail.com">methylDragon</maintainer>
   <license>Apache License 2.0</license>
-  <depend>pybind_ament</depend>
+
+  <depend>pybind11_vendor</depend>
+  <depend>rclpy</depend>
   <depend>rmf_fleet_adapter</depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 
 </package>

rmf_fleet_adapter_python/scripts/schedule_blockade_nodes.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright 2020 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

rmf_fleet_adapter_python/scripts/test_adapter.py

@@ -1,6 +1,7 @@
-import rmf_fleet_adapter_python.test_delivery as test_delivery
-import rmf_fleet_adapter_python.test_loop as test_loop
+#!/usr/bin/env python3
 
+import test_delivery
+import test_loop
 
 def main():
     test_delivery.main()

rmf_fleet_adapter_python/scripts/test_delivery.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import rclpy
 import time
 from rclpy.executors import SingleThreadedExecutor
@@ -12,9 +14,9 @@
 import rmf_adapter.type as Type
 import rmf_adapter.schedule as schedule
 
-from rmf_fleet_adapter_python.test_utils import MockRobotCommand
-from rmf_fleet_adapter_python.test_utils import MockDispenser, MockIngestor
-from rmf_fleet_adapter_python.test_utils import TaskSummaryObserver
+from test_utils import MockRobotCommand
+from test_utils import MockDispenser, MockIngestor
+from test_utils import TaskSummaryObserver
 
 from functools import partial
 

rmf_fleet_adapter_python/scripts/test_loop.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import rclpy
 import time
 from rclpy.executors import SingleThreadedExecutor
@@ -11,9 +13,9 @@
 import rmf_adapter.plan as plan
 import rmf_adapter.type as Type
 
-from rmf_fleet_adapter_python.test_utils import MockRobotCommand
-from rmf_fleet_adapter_python.test_utils import MockDispenser, MockIngestor
-from rmf_fleet_adapter_python.test_utils import TaskSummaryObserver
+from test_utils import MockRobotCommand
+from test_utils import MockDispenser, MockIngestor
+from test_utils import TaskSummaryObserver
 
 from functools import partial
 

rmf_fleet_adapter_python/scripts/test_utils.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import rmf_dispenser_msgs.msg as dispenser_msgs
 import rmf_ingestor_msgs.msg as ingestor_msgs
 from rmf_task_msgs.msg import TaskSummary

rmf_fleet_adapter_python/scripts/traffic_light.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright 2020 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");