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-e install rcb4 in virtualenv #17

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merged 2 commits into from
Jan 13, 2024
Merged

-e install rcb4 in virtualenv #17

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-e install rcb4 in virtualenv
iory Jan 13, 2024
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iory Jan 13, 2024
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22 changes: 17 additions & 5 deletions ros/kxr_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -56,13 +52,29 @@ 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
)

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 ${_venv_setup} ${_python}
)


add_custom_target(
run_after_venv ALL
DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/after_venv_script"
)

include_directories(
include
${catkin_INCLUDE_DIRS}
Expand Down
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