From cf15cfa1d720ca70b8befd8418c8ca0762fcd0d1 Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Sat, 13 Jan 2024 13:59:29 +0900
Subject: [PATCH 1/2] -e install rcb4 in virtualenv

---
 ros/kxr_controller/CMakeLists.txt | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/ros/kxr_controller/CMakeLists.txt b/ros/kxr_controller/CMakeLists.txt
index a2c9a3f4..4e4dccc7 100644
--- a/ros/kxr_controller/CMakeLists.txt
+++ b/ros/kxr_controller/CMakeLists.txt
@@ -22,10 +22,6 @@ endif()
 get_filename_component(RCB4_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../.." ABSOLUTE)
 message(STATUS "RCB4 Directory: ${RCB4_DIR}")
 
-# Command to copy the modified requirements.in to requirements.in.with_rcb4
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/requirements.in ${CMAKE_CURRENT_SOURCE_DIR}/requirements.in.with_rcb4 COPYONLY)
-file(APPEND ${CMAKE_CURRENT_SOURCE_DIR}/requirements.in.with_rcb4 "${RCB4_DIR}\n")
-
 find_package(catkin REQUIRED COMPONENTS
   catkin_virtualenv
   actionlib
@@ -56,13 +52,25 @@ catkin_package(
 )
 
 catkin_generate_virtualenv(
-  INPUT_REQUIREMENTS requirements.in.with_rcb4
+  INPUT_REQUIREMENTS requirements.in
   PYTHON_INTERPRETER python3
   USE_SYSTEM_PACKAGES TRUE
   ISOLATE_REQUIREMENTS FALSE
   CHECK_VENV FALSE
 )
 
+add_custom_command(
+  OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/after_venv_script"
+  COMMAND echo "${_python} -m pip install ${RCB4_DIR}"
+  COMMAND . ${_venv_setup} && ${_python} -m pip install ${RCB4_DIR}
+  DEPENDS ${PROJECT_NAME}_generate_virtualenv
+)
+
+add_custom_target(
+  run_after_venv ALL
+  DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/after_venv_script"
+)
+
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}

From c3f911e87c89383ca9148c66c7088172bfc8eccb Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Sat, 13 Jan 2024 15:25:24 +0900
Subject: [PATCH 2/2] Add

---
 ros/kxr_controller/CMakeLists.txt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ros/kxr_controller/CMakeLists.txt b/ros/kxr_controller/CMakeLists.txt
index 4e4dccc7..778f6ef6 100644
--- a/ros/kxr_controller/CMakeLists.txt
+++ b/ros/kxr_controller/CMakeLists.txt
@@ -59,13 +59,17 @@ catkin_generate_virtualenv(
   CHECK_VENV FALSE
 )
 
+set(_python "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/venv/bin/python")
+set(_venv_setup "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/venv/bin/activate")
+
 add_custom_command(
   OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/after_venv_script"
   COMMAND echo "${_python} -m pip install ${RCB4_DIR}"
   COMMAND . ${_venv_setup} && ${_python} -m pip install ${RCB4_DIR}
-  DEPENDS ${PROJECT_NAME}_generate_virtualenv
+  DEPENDS ${PROJECT_NAME}_generate_virtualenv ${_venv_setup} ${_python}
 )
 
+
 add_custom_target(
   run_after_venv ALL
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/after_venv_script"