From e944dfdc77e6e774a50e21ba270a417b5345279e Mon Sep 17 00:00:00 2001 From: CursedRock17 Date: Mon, 1 Apr 2024 19:01:17 -0400 Subject: [PATCH] Spliting tf2_kdl Signed-off-by: CursedRock17 Removing extra dependencies Signed-off-by: CursedRock17 Updating package version Signed-off-by: CursedRock17 Correcting dependencies Signed-off-by: CursedRock17 Fixing imports Signed-off-by: CursedRock17 Removing excess from tf2_kdl Signed-off-by: CursedRock17 Fixing imports Signed-off-by: CursedRock17 Removing excess from tf2_kdl Signed-off-by: CursedRock17 --- geometry2/package.xml | 2 ++ tf2_kdl/CMakeLists.txt | 8 ------ tf2_kdl/package.xml | 2 -- tf2_kdl/test/test_python.launch | 3 --- tf2_kdl_py/CHANGELOG.rst | 3 +++ tf2_kdl_py/package.xml | 25 +++++++++++++++++++ tf2_kdl_py/resource/tf2_kdl_py | 0 tf2_kdl_py/setup.cfg | 4 +++ tf2_kdl_py/setup.py | 21 ++++++++++++++++ .../test.py => tf2_kdl_py/test/test_kdl.py | 2 -- .../tf2_kdl_py}/__init__.py | 0 .../tf2_kdl_py}/tf2_kdl.py | 0 12 files changed, 55 insertions(+), 15 deletions(-) delete mode 100644 tf2_kdl/test/test_python.launch create mode 100644 tf2_kdl_py/CHANGELOG.rst create mode 100644 tf2_kdl_py/package.xml create mode 100644 tf2_kdl_py/resource/tf2_kdl_py create mode 100644 tf2_kdl_py/setup.cfg create mode 100644 tf2_kdl_py/setup.py rename tf2_kdl/scripts/test.py => tf2_kdl_py/test/test_kdl.py (99%) mode change 100755 => 100644 rename {tf2_kdl/src/tf2_kdl => tf2_kdl_py/tf2_kdl_py}/__init__.py (100%) rename {tf2_kdl/src/tf2_kdl => tf2_kdl_py/tf2_kdl_py}/tf2_kdl.py (100%) diff --git a/geometry2/package.xml b/geometry2/package.xml index 504ed3ff8..c3798dafb 100644 --- a/geometry2/package.xml +++ b/geometry2/package.xml @@ -27,9 +27,11 @@ tf2_eigen_kdl tf2_geometry_msgs tf2_kdl + tf2_kdl_py tf2_msgs tf2_py tf2_ros + tf2_ros_py tf2_sensor_msgs tf2_tools diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt index fb82f9ee0..09541b82e 100644 --- a/tf2_kdl/CMakeLists.txt +++ b/tf2_kdl/CMakeLists.txt @@ -19,9 +19,6 @@ find_package(orocos_kdl REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) -ament_python_install_package(${PROJECT_NAME} - PACKAGE_DIR src/${PROJECT_NAME}) - add_library(tf2_kdl INTERFACE) target_link_libraries(tf2_kdl INTERFACE ${builtin_interfaces_TARGETS} @@ -37,11 +34,6 @@ install(TARGETS tf2_kdl EXPORT export_tf2_kdl) install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME}) -# TODO(ahcorde): Port python once https://github.com/ros2/orocos_kinematics_dynamics/pull/4 is merged -# install(PROGRAMS scripts/test.py -# DESTINATION lib/${PROJECT_NAME} -# ) - if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) find_package(rclcpp REQUIRED) diff --git a/tf2_kdl/package.xml b/tf2_kdl/package.xml index 8c9b14cdf..e487aaa40 100644 --- a/tf2_kdl/package.xml +++ b/tf2_kdl/package.xml @@ -22,8 +22,6 @@ tf2 tf2_ros - tf2_ros_py - ament_cmake_gtest rclcpp tf2_msgs diff --git a/tf2_kdl/test/test_python.launch b/tf2_kdl/test/test_python.launch deleted file mode 100644 index d43a4c790..000000000 --- a/tf2_kdl/test/test_python.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/tf2_kdl_py/CHANGELOG.rst b/tf2_kdl_py/CHANGELOG.rst new file mode 100644 index 000000000..999991f7f --- /dev/null +++ b/tf2_kdl_py/CHANGELOG.rst @@ -0,0 +1,3 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tf2_kdl_py +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/tf2_kdl_py/package.xml b/tf2_kdl_py/package.xml new file mode 100644 index 000000000..1644131e4 --- /dev/null +++ b/tf2_kdl_py/package.xml @@ -0,0 +1,25 @@ + + tf2_kdl_py + 0.36.1 + + PyKDL binding for tf2 + + + Alejandro Hernandez Cordero + Chris Lalancette + + Apache-2.0 + + geometry_msgs + python_orocos_kdl_vendor + tf2_ros_py + + builtin_interfaces + python3-pytest + rclpy + + + ament_python + + + diff --git a/tf2_kdl_py/resource/tf2_kdl_py b/tf2_kdl_py/resource/tf2_kdl_py new file mode 100644 index 000000000..e69de29bb diff --git a/tf2_kdl_py/setup.cfg b/tf2_kdl_py/setup.cfg new file mode 100644 index 000000000..c0fb9c8c7 --- /dev/null +++ b/tf2_kdl_py/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/tf2_kdl_py +[install] +install_scripts=$base/lib/tf2_kdl_py diff --git a/tf2_kdl_py/setup.py b/tf2_kdl_py/setup.py new file mode 100644 index 000000000..21475692b --- /dev/null +++ b/tf2_kdl_py/setup.py @@ -0,0 +1,21 @@ +from setuptools import find_packages, setup + +package_name = 'tf2_kdl_py' + +setup( + name=package_name, + version='0.36.1', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Alejandro Hernandez Cordero, Chris Lalancette', + maintainer_email='alejandro@openrobotics.org, clalancette@openrobotics.org', + description='PyKDL binding for tf2', + license='Apache-2.0', + tests_require=['pytest'], +) diff --git a/tf2_kdl/scripts/test.py b/tf2_kdl_py/test/test_kdl.py old mode 100755 new mode 100644 similarity index 99% rename from tf2_kdl/scripts/test.py rename to tf2_kdl_py/test/test_kdl.py index 521defc2b..c2af52030 --- a/tf2_kdl/scripts/test.py +++ b/tf2_kdl_py/test/test_kdl.py @@ -1,5 +1,3 @@ -#!/usr/bin/python - # Copyright 2008 Willow Garage, Inc. # # Redistribution and use in source and binary forms, with or without diff --git a/tf2_kdl/src/tf2_kdl/__init__.py b/tf2_kdl_py/tf2_kdl_py/__init__.py similarity index 100% rename from tf2_kdl/src/tf2_kdl/__init__.py rename to tf2_kdl_py/tf2_kdl_py/__init__.py diff --git a/tf2_kdl/src/tf2_kdl/tf2_kdl.py b/tf2_kdl_py/tf2_kdl_py/tf2_kdl.py similarity index 100% rename from tf2_kdl/src/tf2_kdl/tf2_kdl.py rename to tf2_kdl_py/tf2_kdl_py/tf2_kdl.py