{common}{ros2} Add ROS opt prefix to PYTHONPATH

In order for Python to find modules in the recipe-sysroot we must add the path to PYTHONPATH. However, we must prepend the path to any previous values of PYTHONPATH. We cannot refer to the variable in its own definition since bitbake does not evaluate strings in that way. Instead we must mimick python3targetconfig.bbclass and prepend to the recipe tasks to conditionally set PYTHONPATH in the shell context. Signed-off-by: Rob Woolley <[email protected]>
ros · Nov 27, 2024 · 928b66f · 928b66f
1 parent 18b6f67
commit 928b66f
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diff --git a/meta-ros-common/classes/ros_opt_prefix.bbclass b/meta-ros-common/classes/ros_opt_prefix.bbclass
@@ -30,9 +30,56 @@ ROS_PYTHON_VERSION ?= "3"
 inherit ${@'python3-dir' if d.getVar('ROS_PYTHON_VERSION') == '3' else 'python-dir'}
 
 PKG_CONFIG_PATH .= ":${PKG_CONFIG_DIR}:${STAGING_DIR_HOST}${ros_libdir}/pkgconfig:${STAGING_DATADIR}/pkgconfig"
+
 PYTHON_SITEPACKAGES_DIR = "${ros_libdir}/${PYTHON_DIR}/site-packages"
-export PYTHONPATH = "${STAGING_DIR_NATIVE}${PYTHON_SITEPACKAGES_DIR}:$PYTHONPATH"
-PYTHONPATH:class-native = "${PYTHON_SITEPACKAGES_DIR}:$PYTHONPATH"
+
+setup_rosoptprefix_config() {
+        if [ -n "$PYTHON" ]; then export PYTHONPATH=${STAGING_DIR_NATIVE}${ros_libdir}/${PYTHON_DIR}/site-packages:$PYTHONPATH; fi
+}
+
+do_configure:prepend:class-target() {
+        setup_rosoptprefix_config
+}
+
+do_compile:prepend:class-target() {
+        setup_rosoptprefix_config
+}
+
+do_install:prepend:class-target() {
+        setup_rosoptprefix_config
+}
+
+setup_rosoptprefix_native_config() {
+        if [ -n "$PYTHON" ]; then export PYTHONPATH=${ros_libdir}/${PYTHON_DIR}/site-packages:$PYTHONPATH; fi
+}
+
+do_configure:prepend:class-native() {
+        setup_rosoptprefix_native_config
+}
+
+do_compile:prepend:class-native() {
+        setup_rosoptprefix_native_config
+}
+
+do_install:prepend:class-native() {
+        setup_rosoptprefix_native_config
+}
+
+setup_rosoptprefix_nativesdk_config() {
+        if [ -n "$PYTHON" ]; then export PYTHONPATH=${STAGING_DIR_NATIVE}${ros_base_prefix}/lib/${PYTHON_DIR}/site-packages:$PYTHONPATH; fi
+}
+
+do_configure:prepend:class-nativesdk() {
+        setup_rosoptprefix_nativesdk_config
+}
+
+do_compile:prepend:class-nativesdk() {
+        setup_rosoptprefix_nativesdk_config
+}
+
+do_install:prepend:class-nativesdk() {
+        setup_rosoptprefix_nativesdk_config
+}
 
 FILES_SOLIBSDEV += " ${ros_libdir}/lib*${SOLIBSDEV}"
 

diff --git a/meta-ros2/classes/ros_ament_cmake.bbclass b/meta-ros2/classes/ros_ament_cmake.bbclass
@@ -26,8 +26,6 @@ export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${pr
 
 inherit cmake python3native
 
-PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}${ros_base_prefix}/lib/python${PYTHON_BASEVERSION}/site-packages:"
-
 FILES:${PN}:prepend = " \
     ${datadir}/ament_index \
 "