WIP

pyproject.toml

@@ -27,6 +27,7 @@ importlib-resources = { version = "^5.12.0", python = "<3.9" }
 requests = "^2.31.0"
 
 rosdep = "^0.22.0"
+lark = "^1.1.9"
 
 [tool.poetry.group.dev.dependencies]
 ruff = "^0.1.5"

src/robenv/environment/distro.py

@@ -108,6 +108,7 @@ class DistroConfig(NamedTuple):
         "share",
         "src",
         "tools",
+        "local",
     ),
     builder_tool_variable_name="AMENT_CURRENT_PREFIX",
     meta_package_prevent_overwrite=(

src/robenv/environment/env.py

@@ -187,10 +187,8 @@ def remove_installed(self, name: PackageName) -> None:
 class RobEnv:
     def __init__(self) -> None:
         self.path = locate(DEFAULT_ROBENV_NAME)
-        # TODO(Moritz): /opt/ros/noetic is only correct if venv was created with default ros-path
-        # https://dmz-gitlab.honda-ri.de/SSE/robenv/-/issues/28
         self._settings = RobEnvSettings.read(self.path)
-        self.shell = RobEnvShell(self.path / f"opt/ros/{self._settings.ros_distro}/setup.sh")
+        self.shell = RobEnvShell(self.path / "activate")
         self._rosdep: Rosdep | None = None
 
     @property

src/robenv/environment/shell.py

@@ -67,7 +67,7 @@ def run(
         return run_command(self.command_in_env(command), events=events, cwd=cwd)
 
     def command_in_env(self, command: str) -> str:
-        return f"bash -c 'source {Path('robenv/activate').absolute()} && {command}'"
+        return f"bash -c 'source {self._activate_script} && {command}'"
 
     def spawn(self) -> int:
         shell = self._get_shell()
@@ -96,6 +96,6 @@ def _get_shell(self) -> pexpect.spawn:
             ["-i"],
             dimensions=(terminal.lines, terminal.columns),
         )
-        shell.sendline("source robenv/activate")
+        shell.sendline(f"source {self._activate_script}")
 
         return shell

src/robenv/ros_package/builder.py

@@ -229,7 +229,7 @@ def _make_makefile(self, package: ROSPackage) -> None:
             )
             .replace(
                 f"/opt/ros/{distro}/setup.sh",
-                f"{self._robenv.path!s}/opt/ros/{distro}/setup.sh",
+                f"{self._robenv.path!s}/activate",
             ),
         )
 

src/robenv/templates/activate.template

@@ -1,6 +1,6 @@
 #!/bin/sh
 
-. "${robenv_path}/opt/ros/${ros_distro}/setup.$$(basename -- "$$SHELL")"
+. "${robenv_path}/opt/ros/${ros_distro}/setup.sh"
 
 export PATH="${robenv_ros_path}/bin:${robenv_path}/usr/bin:$$PATH"
 export PKG_CONFIG_PATH="$$PKG_CONFIG_PATH:${robenv_ros_path}/lib/pkgconfig"

tests/unit/environment/test_shell.py

@@ -130,7 +130,7 @@ def test_get_shell__spawns_zsh_shell(
     )
     assert shell is pexpect_mock.spawn.return_value
     shell.sendline.assert_called_once_with(
-        f"source {activate_script.with_suffix('.zsh')}",
+        f"source {activate_script}",
     )
 
 
@@ -154,5 +154,5 @@ def test_get_shell__spawns_bash_shell(
     )
     assert shell is pexpect_mock.spawn.return_value
     shell.sendline.assert_called_once_with(
-        f"source {activate_script.with_suffix('.bash')}",
+        f"source {activate_script}",
     )