feat: Add installation procedure for ROS 2 and change Python bindings…

… package name
2b-t · Nov 19, 2023 · 1f26489 · 1f26489
1 parent 5c1454d
commit 1f26489
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Showing 7 changed files with 38 additions and 18 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+*.pyc
 build/
-myactuator_rmd.egg-info/
+myactuator_rmd_py.egg-info/
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -23,7 +23,6 @@ include(ConfigExtras.cmake)
 include_directories(
   include/
 )
-
 add_library(myactuator_rmd SHARED
   src/can/node.cpp
   src/can/utilities.cpp
@@ -33,19 +32,31 @@ add_library(myactuator_rmd SHARED
 )
 set(MYACTUATOR_RMD_LIBRARIES "")
 target_link_libraries(myactuator_rmd ${MYACTUATOR_RMD_LIBRARIES})
-install(TARGETS
-  myactuator_rmd
-  DESTINATION lib/${PROJECT_NAME}
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+install(TARGETS myactuator_rmd
+  EXPORT export_${PROJECT_NAME}
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
 )
 
 if(PYTHON_BINDINGS)
-  pybind11_add_module(pymyactuator_rmd bindings/myactuator_rmd.cpp)
-  target_link_libraries(pymyactuator_rmd PRIVATE myactuator_rmd)
-  set_target_properties(pymyactuator_rmd PROPERTIES OUTPUT_NAME myactuator_rmd)
-
-  install(TARGETS
-    pymyactuator_rmd
-    DESTINATION lib/${PROJECT_NAME}
+  pybind11_add_module(myactuator_rmd_py
+    bindings/myactuator_rmd.cpp
+  )
+  target_link_libraries(myactuator_rmd_py PUBLIC
+    myactuator_rmd
+  )
+
+  if(ament_cmake_FOUND)
+    find_package(ament_cmake_python REQUIRED)
+    ament_python_install_package(${PROJECT_NAME})
+  endif()
+  install(TARGETS myactuator_rmd_py
+    DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}
   )
 endif()
 
@@ -84,5 +95,8 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
 endif()
 
 if(ament_cmake_FOUND)
+  ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+  ament_export_dependencies(ament_cmake)
+  ament_export_dependencies(ament_cmake_python)
   ament_package(CONFIG_EXTRAS ConfigExtras.cmake)
 endif()
diff --git a/ReadMe.md b/ReadMe.md
@@ -51,7 +51,7 @@ For **building and installing the Python bindings** for this driver open a new t
 $ pip3 install .
 ```
 
-This will use the `setup.py` to invoke CMake and install the bindings as a C++ library. If you want to remove them again simply invoke `$ pip3 uninstall myactuator_rmd`.
+This will use the `setup.py` to invoke CMake and install the bindings as a C++ library. If you want to remove them again simply invoke `$ pip3 uninstall myactuator-rmd-py`.
 
 
 
@@ -63,15 +63,15 @@ This will use the `setup.py` to invoke CMake and install the bindings as a C++ l
 $ python3
 Python 3.10.6 (main, Mar 10 2023, 10:55:28) [GCC 11.3.0] on linux
 Type "help", "copyright", "credits" or "license" for more information.
->>> from myactuator_rmd import Driver
+>>> from myactuator_rmd_py import Driver
 >>> driver = Driver("can0", 1)
 >>> driver.getVersionDate()
 2023020601
 >>> driver.sendPositionAbsoluteSetpoint(180.0, 500.0)
 >>> driver.shutdownMotor()
 ```
 
-For more information you might also inspect the contents of the module inside Python 3 with `help(myactuator_rmd)`.
+For more information you might also inspect the contents of the module inside Python 3 with `help(myactuator_rmd_py)`.
 
 
 

diff --git a/bindings/myactuator_rmd.cpp b/bindings/myactuator_rmd.cpp
@@ -30,7 +30,7 @@
 #include "myactuator_rmd/io.hpp"
 
 
-PYBIND11_MODULE(myactuator_rmd, m) {
+PYBIND11_MODULE(myactuator_rmd_py, m) {
 
   m.doc() = "MyActuator RMD driver main module";
   pybind11::class_<myactuator_rmd::Driver>(m, "Driver")

diff --git a/myactuator_rmd/__init__.py b/myactuator_rmd/__init__.py
@@ -0,0 +1 @@
+from myactuator_rmd.myactuator_rmd_py import *
diff --git a/package.xml b/package.xml
@@ -8,6 +8,10 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>python_cmake_module</buildtool_depend>
+
+  <depend>pybind11_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/setup.py b/setup.py
@@ -51,13 +51,13 @@ def build_extension(self, ext: CMakeExtension) -> None:
 
 
 setup(
-    name="myactuator_rmd",
+    name="myactuator_rmd_py",
     version="0.0.1",
     author="Tobit Flatscher",
     author_email="tobit.flatscher@outlook.com",
     description="CAN driver for the MyActuator RMD X actuator series",
     long_description="",
-    ext_modules=[CMakeExtension("myactuator_rmd")],
+    ext_modules=[CMakeExtension("myactuator_rmd_py")],
     cmdclass={"build_ext": CMakeBuild},
     zip_safe=False,
     extras_require={"test": ["pytest>=6.0"]},