Merge pull request #65 from pyros-dev/pipenv

Pipenv

.envrc

@@ -0,0 +1,2 @@
+export PIPENV_SITE_PACKAGES=true
+layout pipenv --site-packages

.gitignore

@@ -93,3 +93,7 @@ ENV/
 
 # Pycharm
 .idea
+
+# pipenv for multi version
+Pipfile.lock
+

.pyup.yml

@@ -26,10 +26,8 @@ search: False
 # default: empty
 # allowed: list
 requirements:
-  - dev-requirements.txt:
-      update: True
-  - doc-requirements.txt:
-      update: True
+  - Pipfile
+  - Pipfile.lock
 
 # add a label to pull requests, default is not set
 # requires private repo permissions, even on public repos

.travis.yml

@@ -1,4 +1,3 @@
-sudo: required
 language: generic
 services:
   - docker
@@ -18,18 +17,17 @@ env:
   # This will check any ROS distro supported on this OS
   # checking devel and install separately so that they don't influence each other (dependencies, path, env, etc.)
   matrix:
-    - ROS_DISTRO=indigo PYTHON=2.7
-    - ROS_DISTRO=indigo PYTHON=3.4
+    # REMINDER : Python3 is NOT supported by ROS.
 
-    - ROS_DISTRO=jade PYTHON=2.7
-    - ROS_DISTRO=jade PYTHON=3.4
+    - ROS_DISTRO=indigo PYTHON=2.7
+    #- ROS_DISTRO=indigo PYTHON=3.4
 
     - ROS_DISTRO=kinetic PYTHON=2.7
-    - ROS_DISTRO=kinetic PYTHON=3.5
+    #- ROS_DISTRO=kinetic PYTHON=3.5
+
+    - ROS_DISTRO=melodic PYTHON=2.7
+    #- ROS_DISTRO=melodic PYTHON=3.6
 
-    # docker image not available yet
-    #- ROS_DISTRO=lunar PYTHON=2.7
-    #- ROS_DISTRO=lunar PYTHON=3.5
   # TODO : pypy + pypy3
 
 before_install:
@@ -52,7 +50,7 @@ install:
   # copying local clone to the running container (volume is currently broken)
   - docker cp . ${CONTAINER_NAME}:/git_clone
   # getting virtualenv setup with dependencies
-  - docker exec -ti ${CONTAINER_NAME} /bin/bash -c "source /usr/share/virtualenvwrapper/virtualenvwrapper.sh && mkvirtualenv --system-site-packages -i /git_clone -a /git_clone -q python_${PYTHON}_ros"
+  - docker exec -ti ${CONTAINER_NAME} /bin/bash -c "source /usr/share/virtualenvwrapper/virtualenvwrapper.sh && mkvirtualenv --python=/usr/bin/python${PYTHON} --system-site-packages -i pip -i \"setuptools>12\" -i /git_clone -a /git_clone -q python_${PYTHON}_ros"
 
 # full ROS setup, build and test
 script:

Pipfile

@@ -0,0 +1,18 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+gitchangelog = "*"
+twine = "==1.11.0"
+wheel = "==0.30.0"
+
+[packages]
+six = ">=1.10.0"
+pytest = ">=2.9.2"
+pyros-config = ">=0.2.1"
+
+[requires]
+# ROS1 officially only supports python 2.7
+python_version = "2.7"

README.rst

@@ -4,10 +4,27 @@ Pyros-setup
 .. image:: https://travis-ci.org/asmodehn/pyros-setup.svg?branch=master
     :target: https://travis-ci.org/asmodehn/pyros-setup
 
-Toolsuite for running ROS environments directly from python code, without any specific requirements outside of usual python.
+Toolsuite for using ROS environments directly from python code, without any specific requirements outside of usual python.
 
 This is a pure python package, to be installed in your system, in order to allow easy ROS access from your python environment.
 
+Note : If instead you prefer doing things the other way around, to embed existing python packages in the ROS environment, this is possible thanks to [catkin_pip](https://github.com/asmodehn/catkin_pip)
+
+Prerequisites
+^^^^^^^^^^^^^
+
+ROS should be installed on your system.
+Example with ROS melodic on Ubuntu Bionic::
+
+  sudo apt install ros-melodic-ros-base
+
+This will setup everything you need for using ROS with python2.7
+More information there : http://wiki.ros.org/melodic/Installation/Ubuntu
+
+Then you need to make sure the Python2 virtual environment in which you are working allows access to system packages.
+More information there : https://virtualenv.pypa.io/en/latest/userguide/#the-system-site-packages-option
+
+
 HowTo install
 ^^^^^^^^^^^^^
 
@@ -47,10 +64,18 @@ This is useful for development along with ROS packages::
   $ py.test -s --pyargs pyros_setup --distro=indigo
 
 
-HowTo code
-^^^^^^^^^^
+HowTo develop
+^^^^^^^^^^^^^
+
+After cloning the repository, you can use pipenv to setup your development environment.
+Be careful to allow access to system packages::
+
+  pipenv --two --system-packages
+
+HowTo use
+^^^^^^^^^
 
-Basically it allows you to do this::
+Basically pyros_setup allows you to do this::
 
   try:
       import rospy
@@ -77,17 +102,44 @@ Note: If you know any easier / less tricky / more pythonic way of handling confi
 HowTo deploy
 ^^^^^^^^^^^^
 
-If you want to use pyros-setup, you should use the pip package, since the whole point is to provide access to ROS from pure python environment.
-This is now possible thanks to [catkin_pip](https://github.com/asmodehn/catkin_pip)
+If you want to use pyros-setup as a dependency of your package, you should depend on the pip package.
+Afterall, the whole point is to provide access to ROS from a pure python environment.
+
+
+Python3
+^^^^^^^
+
+DISCLAIMER: This is not compatible with catkin_pip usage. Also NOT SUPPORTED.
+Attempt this at your own risk.
+
+But since python2 is almost dead, we might want to move to python3 already.
+Just remember that ROS does not support python3 out of the box, and significant tinkering is required.
+
+For python3, you will need to install dependent python packages in your python3 virtual environment.
+For example, pyros-setup itself only requires rospkg and pyyaml for the tests to pass::
+
+  pip3 install pyyaml rospkg
+
+
+More information there : https://answers.ros.org/question/237613/how-to-define-ros-kinetic-to-use-python3-instead-of-python27/
 
 
 Remarks
 ^^^^^^^
 
 Although it would technically be possible to build a ROS package from this source, this will NOT be done.
-The catkin build system is only here to help having pyros-setup in a source workspace while developing on it.
+The catkin_pip build system that was here once, was only here to help having pyros-setup in a source workspace while developing on it.
 When using ROS directly this package is not needed, and having it installed among ROS packages would cause much useless confusion with python import mechanism.
 
+
+Roadmap
+^^^^^^^
+
+- The way forward seems to build a ROS wheel from source, with the basic packages inside...
+This will make it compatible with any python environment, easily installable, and isolate it from the operating system.
+
+- This code might eventually be migrated into rosimport, which, as a larger scope, focuses on python environments interoparability with ROS.
+
 Troubleshooting
 ^^^^^^^^^^^^^^^
 

doc/conf.py

@@ -15,12 +15,8 @@
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 
-## get catkin package information
-import os
-import catkin_pkg.package
-catkin_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-catkin_package = catkin_pkg.package.parse_package(
-    os.path.join(catkin_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME))
+with open('../pyros_setup/_version.py') as vf:
+    exec(vf.read())
 
 # -- General configuration ---------------------------------------------------
 
@@ -57,9 +53,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = catkin_package.version
+version = __version__
 # The full version, including alpha/beta/rc tags.
-release = catkin_package.version
+release = __version__
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

doc/index.rst

@@ -0,0 +1,28 @@
+.. _index:
+
+Pyros-Setup
+===========
+
+Toolsuite for running ROS environments directly from python code, without any specific requirements outside of usual python.
+
+This is a pure python package, to be installed in your system, in order to allow easy ROS access from your python environment.
+
+.. include:: weblinks.rst
+
+
+Contents:
+
+.. toctree::
+   :maxdepth: 2
+
+   readme_link
+   overview
+   develop
+   changelog_link
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+

example_usage.py

@@ -0,0 +1,19 @@
+try:
+    import rospy
+    import roslaunch
+    import rosgraph
+    import rosnode
+except ImportError:  # if ROS environment is not setup, we emulate it.
+    print("!!! Original import failed. Attempting Pyros-Setup...")
+    import pyros_setup
+    pyros_setup.configurable_import().configure('mysetup.cfg').activate()  # this will use mysetup.cfg from pyros-setup instance folder
+
+    import rospy
+    import roslaunch
+    import rosgraph
+    import rosnode
+
+print("rospy from: " + rospy.__file__)
+print("roslaunch from: " + roslaunch.__file__)
+print("rosgraph from: " + rosgraph.__file__)
+print("rosnode from: " + rosnode.__file__)

pyros_setup/__init__.py

@@ -27,7 +27,10 @@
 from pyros_config import ConfigHandler
 
 #: Smart Default distro detection (as early as possible)
-if os.path.exists('/opt/ros/lunar'):
+
+if os.path.exists('/opt/ros/melodic'):
+    DETECTED_DISTRO = 'melodic'
+elif os.path.exists('/opt/ros/lunar'):
     DETECTED_DISTRO = 'lunar'
 elif os.path.exists('/opt/ros/kinetic'):
     DETECTED_DISTRO = 'kinetic'
@@ -55,8 +58,7 @@ def configurable_import(instance_path=None, instance_relative_config=True, root_
     class PyrosSetup(object):
         def __init__(self, instance_path=None, instance_relative_config=True, root_path=None):
 
-            # TODO : when used from system : use (default) instance path to /opt/ros/DETECTED_DISTRO/pyros
-            # TODO : when used from venv : use calculated instance path (inside venv)
+            # TODO : use calculated instance path (inside venv)
 
             # we delegate config related behavior (including defaults)
             self.config_handler = ConfigHandler(

setup.py

@@ -100,13 +100,15 @@ def run(self):
     install_requires=[
         'six>=1.10.0',  # to be compatible with latest pkg_resources requirements
         'pyros_config>=0.2.0',
-        'pytest>=2.5.1'
+        'pytest>=2.9.2'
     ],
     setup_requires=[
         'pytest-runner',
         # 'twine'  #  this requires requests >= 2.5.0, which breaks on trusty...
     ],
     tests_require=[
+        'pyyaml',
+        'rospkg'
     ],
     cmdclass={
         'prepare_release': PrepareReleaseCommand,

tox.ini

@@ -1,24 +1,14 @@
-# content of: tox.ini , put in same dir as setup.py
+# This requires tox-pipenv to use the pipfile to populate the tox virtualenvs
 [tox]
+skip_missing_interpreters = true
 envlist = py27
-# Test fails ! requires pyros_config >1.2
-#, py34
-#, py35
+
+# NOT SUPPORTED, because we dont want to merge packages for different interpreters.
+#, py34, py35, py36, py37
 
 #, pypy
 #, pypy3
 
-[tox:travis]
-2.7 = py27
-
-# This requires pyros_config >1.2
-#3.4 = py34
-# TODO : link ROS distro and python3 version...
-
-# not tested yet
-#pypy = pypy
-#pypy3 = pypy3
-
 [testenv]
 # to always force recreation and avoid unexpected side effects
 recreate=True