install spawner/unspawner using console_script entrypoint

Author: wmmc88

controller_manager/CMakeLists.txt

@@ -6,6 +6,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_core REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(controller_interface REQUIRED)
@@ -53,14 +54,6 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-install(PROGRAMS
-  scripts/spawner
-  scripts/spawner.py  # Deprecated
-  scripts/unspawner
-  scripts/unspawner.py  # Deprecated
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
@@ -160,7 +153,7 @@ if(BUILD_TESTING)
 endif()
 
 # Install Python modules
-ament_python_install_package(${PROJECT_NAME})
+ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
 
 ament_export_libraries(
   controller_manager

controller_manager/scripts/spawner.py renamed to controller_manager/controller_manager/spawner.py

@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>controller_interface</depend>

controller_manager/scripts/unspawner.py renamed to controller_manager/controller_manager/unspawner.py

@@ -0,0 +1,4 @@
+[options.entry_points]
+console_scripts =
+    spawner = controller_manager.spawner:main
+    unspawner = controller_manager.unspawner:main