From 5b7ec3fbfa8968fc6dc8fee96d676a000fee107f Mon Sep 17 00:00:00 2001
From: Lightech <lightech@outlook.com>
Date: Sat, 19 Nov 2022 02:10:23 -0500
Subject: [PATCH] Add some known Python executable script to fix hardcoded
 path, update documentation

---
 README.md              | 19 +++++++++----------
 build_deps.sh          |  9 +++++----
 fix_hardcoded_paths.sh |  6 +++++-
 3 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/README.md b/README.md
index b1b569f..a9aaf65 100644
--- a/README.md
+++ b/README.md
@@ -63,7 +63,6 @@ colcon build --merge-install \
         -DBUILD_TESTING=NO \
         -DTHIRDPARTY=FORCE \
         -DCOMPILE_TOOLS=NO \
-        -DFORCE_BUILD_VENDOR_PKG=ON \
         -DBUILD_MEMORY_TOOLS=OFF \
         -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop
 ```
@@ -87,14 +86,12 @@ After my tons of failures, here is what went going on behind the above command:
 
  4. `COMPILE_TOOLS=NO` for `Fast-DDS` to **NOT** compile the fast discovery server executable.
 
- 5. `FORCE_BUILD_VENDOR_PKG=ON` is to build and use the `*_vendor` packages such as `libyaml_vendor`, again so that we do not have to install it to the system with Homebrew
+ 5. `BUILD_MEMORY_TOOLS=OFF` is for `foonathan_memory` to disable building `nodesize_db` program
 
- 6. `BUILD_MEMORY_TOOLS=OFF` is for `foonathan_memory` to disable building `nodesize_db` program
-
- 7. `RCL_LOGGING_IMPLEMENTATION=rcl_logging_noop` is to select the logging backend for `rcl_logging`.
+ 6. `RCL_LOGGING_IMPLEMENTATION=rcl_logging_noop` is to select the logging backend for `rcl_logging`.
     Here, I am using `noop` one to avoid one more dependency `spdlog_vendor`.
 
- 8. ROS2 depends significantly on dynamic linking. Do NOT add `BUILD_SHARED_LIBS=NO`, contrary to my other project [LLVM](https://github.com/light-tech/LLVM-On-iOS/) where building static libs is needed!
+ 7. ROS2 depends significantly on dynamic linking. Do NOT add `BUILD_SHARED_LIBS=NO`, contrary to my other project [LLVM](https://github.com/light-tech/LLVM-On-iOS/) where building static libs is needed!
 
 ## Build ROS2 with graphical tools for macOS
 
@@ -126,10 +123,12 @@ In that case, you will need to install `x86_64` version of Python.
  *  If you download the file from a browser, it will be put in quarantine so you need to `xattr -d com.apple.quarantine DOWNLOADED_FILE` before extraction.
  *  To avoid that, you could open the terminal and do
     ```shell
-    curl -OL https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.2/deps_macOS.tar.xz \
-         -O https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.2/ros2_macOS.tar.xz \
-         -O https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.2/rviz2_macOS.tar.xz \
-         -O https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.2/moveit2_macOS.tar.xz
+    baseUrl=https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.4
+    curl -OL $baseUrl/deps_macOS.tar.xz \
+         -O $baseUrl/base_macOS.tar.xz \
+         -O $baseUrl/rviz2_macOS.tar.xz \
+         -O $baseUrl/moveit2_macOS.tar.xz \
+         -O $baseUrl/tutorials_macOS.tar.xz
     ```
     instead.
 
diff --git a/build_deps.sh b/build_deps.sh
index 42b3011..73fad36 100755
--- a/build_deps.sh
+++ b/build_deps.sh
@@ -21,11 +21,12 @@ mkdir -p $depsExtractPath
 # Location to install dependencies
 depsInstallPath=$scriptDir/ros2_$targetPlatform/deps
 
-# Root for Python 3.11 to build Boost, change the match the platform such as
-# pythonRoot=/Library/Frameworks/Python.framework/Versions/$pythonVersion/
-# if use official Python instead of Homebrew's version on GitHub Action
 pythonVersion=3.11
-pythonRoot=/Library/Frameworks/Python.framework/Versions/$pythonVersion/ #/usr/local/opt/python@$pythonVersion/Frameworks/Python.framework/Versions/$pythonVersion/
+
+# Python path to build Boost, change the match the platform such as
+# pythonRoot=/usr/local/opt/python@$pythonVersion/Frameworks/Python.framework/Versions/$pythonVersion/
+# if using Homebrew's Python instead of the official Python.
+pythonRoot=/Library/Frameworks/Python.framework/Versions/$pythonVersion/
 
 export PATH=$depsInstallPath/bin:$PATH
 export PKG_CONFIG=$depsInstallPath/bin/pkg-config
diff --git a/fix_hardcoded_paths.sh b/fix_hardcoded_paths.sh
index 35a618c..44d2952 100755
--- a/fix_hardcoded_paths.sh
+++ b/fix_hardcoded_paths.sh
@@ -38,6 +38,10 @@ fixHardCodedPythonEnvPath() {
 
     echo "Replacing $hardcodedPythonEnvPath -> $localPythonEnvPath"
 
+    # Python scripts
+    hardcodedFiles+=($(ls $installDir/base/bin))
+    hardcodedFiles+=($installDir/moveit2/bin/xacro $installDir/moveit2/lib/controller_manager/spawner $installDir/moveit2/lib/controller_manager/unspawner)
+
     for f in "${hardcodedFiles[@]}"; do
         confirm "In $f [y/n]? " && sed -i '' "s,$hardcodedPythonEnvPath,$localPythonEnvPath,g" $f
     done
@@ -101,5 +105,5 @@ fixXcodeSDKPath
 
 echo ""
 echo "REMINDERS"
-echo "You also need to fix the python3 path in $installDir/base/bin/ros2."
+echo "You sometimes need to fix the python3 path in $installDir/base/bin/ros2."
 echo ""