change genmsg output dir to catkin lib dir

Author: OTL

CMakeLists.txt

@@ -5,20 +5,50 @@ find_package(catkin REQUIRED COMPONENTS)
 
 find_package(Ruby)
 
-###################################
-## catkin specific configuration ##
-###################################
 catkin_package(
-   CATKIN_DEPENDS roslang rosgraph_msgs
-   DEPENDS ruby
+  CATKIN_DEPENDS roslang rosgraph_msgs
+  DEPENDS ruby
 )
 
+#
+# macro definitions
+#
+macro(rosruby_setup)
+  set(ROSRUBY_DEVEL_LIB_DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/ruby/vendor_ruby)
+  set(ROSRUBY_LIB_DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}/ruby/vendor_ruby)
+endmacro()
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+macro(rosruby_generate_messages)
+  add_custom_target(rosruby_genmsg_${PROJECT_NAME} ALL
+    COMMAND rosrun rosruby rosruby_genmsg.py -d ${ROSRUBY_DEVEL_LIB_DESTINATION} ${ARGN})
+  install(DIRECTORY ${ROSRUBY_DEVEL_LIB_DESTINATION}/msg/
+    DESTINATION ${ROSRUBY_LIB_DESTINATION}/msg
+    )
+  install(DIRECTORY ${ROSRUBY_DEVEL_LIB_DESTINATION}/srv/
+    DESTINATION ${ROSRUBY_LIB_DESTINATION}/srv
+    )
+endmacro()
+
+macro(rosruby_add_libraries)
+  foreach(file ${ARGN})
+    get_filename_component(fullpath ${file} ABSOLUTE)
+    get_filename_component(name ${file} NAME)
+    add_custom_target(rosruby_${name}_link ALL
+      COMMAND ${CMAKE_COMMAND} -E create_symlink ${fullpath} ${ROSRUBY_DEVEL_LIB_DESTINATION}/${name}
+      DEPENDS rosruby_devel_mkdir)
+  endforeach()
+endmacro()
+#
+# end macro
+#
+
+rosruby_setup()
+
+rosruby_generate_messages(rosgraph_msgs std_msgs roscpp_tutorials)
+
+add_custom_target(rosruby_devel_mkdir ALL
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${ROSRUBY_DEVEL_LIB_DESTINATION})
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
 install(PROGRAMS
   bin/rubyroscore
   samples/add_two_ints_client.rb
@@ -34,14 +64,10 @@ install(PROGRAMS
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY lib/
-  DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}/ruby
-  FILES_MATCHING PATTERN "*.rb"
-)
+rosruby_add_libraries(
+  lib/ros.rb
+  lib/ros)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(DIRECTORY lib/
+  DESTINATION ${ROSRUBY_LIB_DESTINATION}
+  )

README.md

@@ -14,12 +14,28 @@ This project supports ruby ROS client. You can program intelligent robots by rub
 Requirements
 ----------
 - ruby (1.8.7/1.9.3)
-- ROS (groovy)
+- ROS (hydro/groovy)
 
 electric/fuerte
 ---------
 If you are using electric or fuerte, please use v0.2.1.
 
+
+Install (binary)
+------------------
+If you want to use groovy,
+
+```bash
+sudo apt-get install ros-groovy-rosruby
+```
+
+and add RUBYLIB environmental variable.
+
+```bash
+$ echo "export RUBYLIB=/opt/ros/groovy/lib/ruby/vendor_ruby" >> ~/.bashrc
+$ source ~/.bashrc
+```
+
 Install from source
 ---------------
 Install ROS and ruby first. ROS document is [http://ros.org/wiki/ROS/Installation](http://ros.org/wiki/ROS/Installation) .
@@ -37,25 +53,14 @@ $ catkin_make
 please add RUBYLIB environment variable, like below (if you are using bash).
 
 ```bash
-$ echo "export RUBYLIB=`rospack find rosruby`/lib" >> ~/.bashrc
+$ echo "export RUBYLIB=~/catkin_ws/devel/lib/ruby/vendor_ruby" >> ~/.bashrc
 $ source ~/.bashrc
 ```
 
-If you are using install environment for catkin....(advanced)
----------------------------------------------------------------
-if you want to use rosruby in `install` environment,
-this means you are doing like this.
-
-```bash
-$ catkin_make install
-$ source ~/catkin_ws/install/setup.bash
-```
+if you want to use install environment, please edit develop -> install
 
-then you must use below RUBYLIB environment.
+export RUBYLIB=~/catkin_ws/install/lib/ruby/vendor_ruby
 
-```bash
-export RUBYLIB=~/catkin_ws/install/lib/ruby
-```
 
 Message generation
 -----------------------
@@ -66,14 +71,9 @@ generage rosruby messages.
 For example,
 
 ```bash
-$ rosrun rosruby rosruby_genmsg.py geometry_msgs nav_msgs
+$ rosrun rosruby rosruby_genmsg.py geometry_msgs nav_msgs -d ~/catkin_ws/devel/lib/ruby/vendor_ruby/
 ```
 
-Arguments are msg package names. If arguments are not given,
-that converts msg/srv to .rb which is needed by sample programs.
-
-This generates message files in ~/.ros/rosruby directory.
-
 Sample Source
 --------------
 
@@ -205,3 +205,15 @@ $ rake yard
 ```
 
 You can access to the generated documents from [here](http://otl.github.com/rosruby/doc/).
+
+
+catkin and CMakeLists.txt
+-----------------------------
+
+rosruby's CMakeLists.txt defines some macros for your package that uses rosruby.
+you can use these if you add `find_package(rosruby)` to CMakeLists.txt.
+
+* rosruby_setup() : setup some macros and variables for rosruby
+* rosruby_generate_messages(message_pkg1 message_okg2 ...) : generates rosruby msg/srv files
+* rosruby_add_libraries(files or dirs) : install lib files for devel environment.
+

Rakefile

@@ -40,10 +40,10 @@ Gem::PackageTask.new(rosruby_spec).define
 desc "Generate precompiled msg gem"
 task :msg_gem do
   target_msg_packages = "actionlib_msgs pr2_controllers_msgs std_msgs visualization_msgs actionlib_tutorials roscpp stereo_msgs geometry_msgs rosgraph_msgs tf nav_msgs sensor_msgs trajectory_msgs std_srvs"
-  system("scripts/rosruby_genmsg.py #{target_msg_packages}")
+  system("scripts/rosruby_genmsg.py #{target_msg_packages} -d /tmp/rosruby/")
   mkdir_p('msg_gem/lib')
-  cp_r(Dir.glob("#{ENV['HOME']}/.ros/rosruby/msg_gen/ruby/*"), "msg_gem/lib/")
-  cp_r(Dir.glob("#{ENV['HOME']}/.ros/rosruby/srv_gen/ruby/*"), "msg_gem/lib/")
+  cp_r(Dir.glob("/tmp/rosruby/msg/*"), "msg_gem/lib/")
+  cp_r(Dir.glob("/tmp/rosruby/srv/*"), "msg_gem/lib/")
   chdir('msg_gem') do
     namespace :msg do
       msg_spec = Gem::Specification.new do |s|

lib/ros.rb

@@ -10,17 +10,17 @@
 # add rospackage paths to $:.
 #
 
-require 'ros/package'
 if not ENV['ROS_MASTER_URI']
   ENV['ROS_MASTER_URI'] = 'http://localhost:11311'
   puts "Warning: ROS_MASTER_URI is not set. Using #{ENV['ROS_MASTER_URI']}"
 end
 
-ROS::load_manifest('rosruby')
-["#{ENV['HOME']}/.ros/rosruby/msg_gen/ruby", "#{ENV['HOME']}/.ros/rosruby/srv_gen/ruby"].each do |path|
-  if File.exists?(path)
-    if not $:.include?(path)
-      $:.push(path)
+ENV['RUBYLIB'].split(':').each do |rubylib_path|
+  ["#{rubylib_path}/msg", "#{rubylib_path}/srv"].each do |path|
+    if File.exists?(path)
+      if not $:.include?(path)
+        $:.push(path)
+      end
     end
   end
 end

scripts/rosruby_genmsg.py

@@ -41,15 +41,18 @@ def get_all_deps(packages):
 
 
 if __name__ == "__main__":
-    if len(sys.argv) == 1:
-        packages = ['std_msgs', 'rosgraph_msgs', 'roscpp_tutorials', 'actionlib_msgs', 'actionlib_tutorials', 'tf', 'nav_msgs']
-    else:
-        packages = sys.argv[1:]
-
+    import argparse
+    parser = argparse.ArgumentParser(description='generate rosruby msg/srv files')
+    parser.add_argument('packages', nargs='+')
+    parser.add_argument('-d', '--output-dir')
+    args = parser.parse_args()
+    packages = args.packages
+    base_dir = os.environ.get("HOME") + "/.ros/rosruby"
+    if args.output_dir:
+        base_dir = args.output_dir
     for pack in get_all_deps(packages):
         msg_dir = "%s/msg/"%get_pkg_dir(pack)
-        base_dir = os.environ.get("HOME") + "/.ros/rosruby"
-        msg_output_prefix = "%s/msg_gen/ruby"%base_dir
+        msg_output_prefix = "%s/msg"%base_dir
         if os.path.exists(msg_dir):
             for file in os.listdir(msg_dir):
                 base, ext = os.path.splitext(file)
@@ -58,7 +61,7 @@ def get_all_deps(packages):
                     genmsg_ruby.gen_msg(msg_dir+file, msg_output_prefix)
 
         srv_dir = "%s/srv/"%get_pkg_dir(pack)
-        srv_output_prefix = "%s/srv_gen/ruby"%base_dir
+        srv_output_prefix = "%s/srv"%base_dir
         if os.path.exists(srv_dir):
             for file in os.listdir(srv_dir):
                 base, ext = os.path.splitext(file)