Fix install rules and dashing changes (#38)

* fix ament indexing
* fix package resource files
* add tk depenndency
* add check for param index-ability
* data files are now package agnostic
Signed-off-by: Ted Kern <ted.kern@canonical.com>

joy_teleop/scripts/joy_teleop.py → joy_teleop/joy_teleop/joy_teleop.py

@@ -77,19 +77,22 @@ def __init__(self):
                 self.get_logger().error('command {} was duplicated'.format(i))
                 continue
 
-            interface_group = config['type']
+            try:
+                interface_group = config['type']
 
-            self.add_command(i, config)
+                self.add_command(i, config)
 
-            if interface_group == 'topic':
-                self.register_topic(i, config)
-            elif interface_group == 'action':
-                self.register_action(i, config)
-            elif interface_group == 'service':
-                self.register_service(i, config)
-            else:
-                self.get_logger().error("unknown type '{type}'"
-                                        "for command '{i}'".format_map(locals()))
+                if interface_group == 'topic':
+                    self.register_topic(i, config)
+                elif interface_group == 'action':
+                    self.register_action(i, config)
+                elif interface_group == 'service':
+                    self.register_service(i, config)
+                else:
+                    self.get_logger().error("unknown type '{type}'"
+                                            "for command '{i}'".format_map(locals()))
+            except TypeError:
+                self.get_logger().warn(f"parameter {i} is not a dict")
 
         # Don't subscribe until everything has been initialized.
         self._subscription = self.create_subscription(

joy_teleop/package.xml

@@ -10,6 +10,7 @@
 
   <author email="paul.mathieu@pal-robotics.com">Paul Mathieu</author>
 
+  <exec_depend>control_msgs</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>teleop_tools_msgs</exec_depend>

joy_teleop/setup.py

@@ -1,17 +1,22 @@
+import os
+
 from setuptools import find_packages
 from setuptools import setup
 
+
 package_name = 'joy_teleop'
 share_path = 'share/' + package_name
 
+
 setup(
     name=package_name,
     version='0.3.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         (share_path, ['package.xml']),
-        (share_path + '/config/', ['config/joy_teleop_example.yaml']),
-        (share_path + '/launch/', ['launch/example.launch.py']),
+        (os.path.join(share_path, 'config'), [os.path.join('config', 'joy_teleop_example.yaml')]),
+        (os.path.join(share_path, 'launch'), [os.path.join('launch', 'example.launch.py')]),
+        (os.path.join('share', 'ament_index', 'resource_index', 'packages'), [os.path.join('resource', package_name)]),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -35,8 +40,8 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'joy_teleop = scripts.joy_teleop:main',
-            'incrementer_server = scripts.incrementer_server:main',
+            'joy_teleop = joy_teleop.joy_teleop:main',
+            'incrementer_server = joy_teleop.incrementer_server:main',
         ],
     },
 )

key_teleop/setup.py

@@ -1,16 +1,21 @@
+import os
+
 from setuptools import find_packages
 from setuptools import setup
 
+
 package_name = 'key_teleop'
-share_path = 'share/' + package_name
+share_path = os.path.join('share', package_name)
+
 
 setup(
     name=package_name,
     version='0.3.0',
     packages=find_packages(exclude=['test']),
     data_files=[
-        (share_path + '/', ['package.xml']),
-        (share_path + '/config/', ['config/' + package_name + '.yaml']),
+        (share_path, ['package.xml']),
+        (os.path.join(share_path, 'config'), [os.path.join('config', f'{package_name}.yaml')]),
+        (os.path.join('share', 'ament_index', 'resource_index', 'packages'), [os.path.join('resource', package_name)]),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -34,7 +39,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'key_teleop = scripts.key_teleop:main',
+            'key_teleop = key_teleop.key_teleop:main',
         ],
     },
 )

mouse_teleop/package.xml

@@ -13,6 +13,7 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>python-numpy</exec_depend>
+  <exec-depend>python-tk</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

mouse_teleop/setup.py

@@ -1,17 +1,22 @@
+import os
+
 from setuptools import find_packages
 from setuptools import setup
 
+
 package_name = 'mouse_teleop'
-share_path = 'share/' + package_name
+share_path = os.path.join('share', package_name)
+
 
 setup(
     name=package_name,
     version='0.3.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         (share_path, ['package.xml']),
-        (share_path + '/config/', ['config/mouse_teleop.yaml']),
-        (share_path + '/launch/', ['launch/mouse_teleop.launch.py']),
+        (os.path.join(share_path, 'config'), [os.path.join('config', f'{package_name}.yaml')]),
+        (os.path.join(share_path, 'launch'), [os.path.join('launch', f'{package_name}.launch.py')]),
+        (os.path.join('share', 'ament_index', 'resource_index', 'packages'), [os.path.join('resource', package_name)]),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -35,7 +40,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'mouse_teleop = scripts.mouse_teleop:main',
+            'mouse_teleop = mouse_teleop.mouse_teleop:main',
         ],
     },
 )