tf2_ros is not built for Python

tf2_py/CMakeLists.txt

@@ -1,157 +1,76 @@
 cmake_minimum_required(VERSION 3.5)
 project(tf2_py)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS rospy tf2)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-find_package(PythonLibs 2 REQUIRED)
-include_directories(${PYTHON_INCLUDE_PATH} ${catkin_INCLUDE_DIRS})
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-catkin_python_setup()
-
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES tf2_py
-  CATKIN_DEPENDS rospy tf2
-#  DEPENDS system_lib
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+
+find_package(python_cmake_module REQUIRED)
+find_package(PythonExtra REQUIRED)
+
+set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+
+if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+  set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+endif()
+
+ament_python_install_package(${PROJECT_NAME})
+
+function(set_properties _targetname _build_type)
+  set_target_properties(${_targetname} PROPERTIES
+    PREFIX ""
+    LIBRARY_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/test_tf2_py"
+    RUNTIME_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/test_tf2_py"
+    OUTPUT_NAME "_${_targetname}${PythonExtra_EXTENSION_SUFFIX}"
+    SUFFIX "${PythonExtra_EXTENSION_EXTENSION}")
+endfunction()
+
+add_library(${PROJECT_NAME} SHARED src/tf2_py.cpp)
+
+set_properties(${PROJECT_NAME} "")
+if(WIN32)
+  set_properties(${PROJECT_NAME} "_DEBUG")
+  set_properties(${PROJECT_NAME} "_MINSIZEREL")
+  set_properties(${PROJECT_NAME} "_RELEASE")
+  set_properties(${PROJECT_NAME} "_RELWITHDEBINFO")
+endif()
+
+ament_target_dependencies(${PROJECT_NAME}
+  "geometry_msgs"
+  "tf2"
+  "PythonExtra"
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-
-## Declare a cpp library
-# add_library(tf2_py
-#   src/${PROJECT_NAME}/tf2_py.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(tf2_py_node src/tf2_py_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(tf2_py_node tf2_py_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(tf2_py_node
-#   ${catkin_LIBRARIES}
-# )
-
-
-# Check for SSE
-#!!! rosbuild_check_for_sse()
-
-# Dynamic linking with tf worked OK, except for exception propagation, which failed in the unit test.
-# so build with the objects directly instead.
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}
+)
 
-link_libraries(${PYTHON_LIBRARIES})
-add_library(tf2_py src/tf2_py.cpp)
-target_link_libraries(tf2_py ${catkin_LIBRARIES})
-add_dependencies(tf2_py tf2_msgs_gencpp)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-set_target_properties(tf2_py PROPERTIES OUTPUT_NAME tf2 PREFIX "_" SUFFIX ".so")
-set_target_properties(tf2_py PROPERTIES COMPILE_FLAGS "-g -Wno-missing-field-initializers")
-set_target_properties(tf2_py PROPERTIES
-  ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
-  LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
-)
-#!! rosbuild_add_compile_flags(tf2_py ${SSE_FLAGS}) #conditionally adds sse flags if available
-
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS tf2_py tf2_py_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-install(FILES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/_tf2.so
-  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
-)
+  find_package(ament_cmake_pytest REQUIRED)
 
+  ament_add_pytest_test(tf2_py_test test
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+  )
 
-#############
-## Testing ##
-#############
+  # Create importable location in build directory
+  file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/test_tf2_py/__init__.py" "")
+endif()
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_tf2_py.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()

tf2_py/package.xml

@@ -1,55 +1,31 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>tf2_py</name>
   <version>0.9.1</version>
   <description>The tf2_py package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
 
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>BSD</license>
 
-
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
   <url type="website">http://ros.org/wiki/tf2_py</url>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>python_cmake_module</buildtool_depend>
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <build_depend>geometry_msgs</build_depend>
 
+  <depend>tf2</depend>
 
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>rospy</build_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>rospy</run_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

tf2_py/src/python_compat.h

@@ -5,6 +5,10 @@
 
 #include <string>
 
+/// \brief Converts a C++ string into a Python string.
+/// \note The caller is responsible for decref'ing the returned object.
+/// \note If the return value is NULL then an exception is set.
+/// \return a new PyObject reference, or NULL
 inline PyObject *stringToPython(const std::string &input)
 {
 #if PY_MAJOR_VERSION >= 3
@@ -14,6 +18,10 @@ inline PyObject *stringToPython(const std::string &input)
 #endif
 }
 
+/// \brief Converts a C string into a Python string.
+/// \note The caller is responsible for decref'ing the returned object.
+/// \note If the return value is NULL then an exception is set.
+/// \return a new PyObject reference, or NULL
 inline PyObject *stringToPython(const char *input)
 {
 #if PY_MAJOR_VERSION >= 3
@@ -23,10 +31,16 @@ inline PyObject *stringToPython(const char *input)
 #endif
 }
 
+/// \brief Converts a Python string into a C++ string.
+/// \note The input PyObject is borrowed, and will not be decref'd.
+/// \note It's possible for this function to set an exception.
+///   If the returned string is empty, callers should check if an exception was
+///   set using PyErr_Ocurred().
+/// \return a new std::string instance
 inline std::string stringFromPython(PyObject * input)
 {
   Py_ssize_t size;
-  char * data;
+  const char * data;
 #if PY_MAJOR_VERSION >= 3
   data = PyUnicode_AsUTF8AndSize(input, &size);
 #else
@@ -35,19 +49,30 @@ inline std::string stringFromPython(PyObject * input)
   return std::string(data, size);
 }
 
+/// \brief Imports a python module by name.
+/// \note The caller is responsible for decref'ing the returned object.
+/// \note If the return value is NULL then an exception is set.
+/// \return a reference to the imported module.
 inline PyObject *pythonImport(const std::string & name)
 {
   PyObject *py_name = stringToPython(name);
+  if (!py_name) {
+    return nullptr;
+  }
   PyObject *module  = PyImport_Import(py_name);
   Py_XDECREF(py_name);
   return module;
 }
 
+/// \brief Borrow an attribute on an object.
+/// \note The caller must not decref the returned object.
+/// \note If the return value is NULL then an exception is set.
+/// \return a reference to the attribute on the object.
 inline PyObject *pythonBorrowAttrString(PyObject* o, const char *name)
 {
-    PyObject *r = PyObject_GetAttrString(o, name);
-    Py_XDECREF(r);
-    return r;
+  PyObject *r = PyObject_GetAttrString(o, name);
+  Py_XDECREF(r);
+  return r;
 }
 
 #endif