[jsk_unitree_startup/cross] Use sitecustomize.py instead of setting P…

…YTHONPATH

[jsk_unitree_startup/cross] Install sitecustomize.py for real unitree robot
[jsk_unitree_startup/cross] Recursively append python site/dist-package paths
[jsk_unitree_startup/cross] Passthrough password

jsk_unitree_robot/cross/build_ros1.sh

@@ -55,6 +55,8 @@ docker run -it --rm \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
+  -v ${PWD}/startup_scripts/sitecustomize.py:/usr/lib/python2.7/sitecustomize.py:ro \
+  -v ${PWD}/startup_scripts/sitecustomize.py:/usr/lib/python3.6/sitecustomize.py:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:rw \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/${SOURCE_ROOT}:rw \
   ${IMAGE_NAME}:${TARGET_MACHINE} \
@@ -74,3 +76,4 @@ docker run -it --rm \
     " 2>&1 | tee ${TARGET_MACHINE}_build_ros1.log
 
 cp ${PWD}/startup_scripts/system_setup.bash ${HOST_INSTALL_ROOT}/
+cp ${PWD}/startup_scripts/sitecustomize.py ${HOST_INSTALL_ROOT}/

jsk_unitree_robot/cross/build_user.sh

@@ -51,6 +51,8 @@ docker run -it --rm \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
+  -v ${HOST_INSTALL_ROOT}/sitecustomize.py:/usr/lib/python2.7/sitecustomize.py:ro \
+  -v ${HOST_INSTALL_ROOT}/sitecustomize.py:/usr/lib/python3.6/sitecustomize.py:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
   -v ${PWD}/rosinstall_generator_unreleased.py:/home/user/rosinstall_generator_unreleased.py:ro \
   ${IMAGE_NAME}:${TARGET_MACHINE} \
@@ -60,7 +62,7 @@ docker run -it --rm \
     set -xeuf -o pipefail && \
     cd /opt/jsk/User && \
     [ ${UPDATE_SOURCE_ROOT} -eq 0 ] || ROS_PACKAGE_PATH=src:\${ROS_PACKAGE_PATH} /home/user/rosinstall_generator_unreleased.py jsk_${TARGET_ROBOT}_startup ${TARGET_ROBOT}eus --rosdistro melodic --exclude RPP --exclude mongodb_store | tee user.repos && \
-    [ ${UPDATE_SOURCE_ROOT} -eq 0 -o -z \"\$(cat user.repos)\" ] || PYTHONPATH= vcs import src < user.repos && \
+    [ ${UPDATE_SOURCE_ROOT} -eq 0 -o -z \"\$(cat user.repos)\" ] || vcs import src < user.repos && \
     catkin build jsk_${TARGET_ROBOT}_startup ${TARGET_ROBOT}eus -s -vi \
         --cmake-args -DCATKIN_ENABLE_TESTING=FALSE \
     " 2>&1 | tee ${TARGET_MACHINE}_build_user.log

jsk_unitree_robot/cross/install.sh

@@ -66,6 +66,12 @@ function copy_data () {
     ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "${hostname}" || echo "OK"
     sshpass -p $PASS ssh -o StrictHostKeyChecking=no ${user}@${hostname} exit
 
+    if [[ "${TARGET_DIRECTORY}" == "System" ]]; then
+        sshpass -p 123 scp ${TARGET_MACHINE}_${TARGET_DIRECTORY}/sitecustomize.py ${user}@${hostname}:/tmp/sitecustomize.py
+        sshpass -p $PASS ssh -t ${user}@${hostname} "echo $PASS | sudo -S cp -f /tmp/sitecustomize.py /usr/lib/python2.7/sitecustomize.py"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "echo $PASS | sudo -S cp -f /tmp/sitecustomize.py /usr/lib/python3/sitecustomize.py"
+    fi
+
     # cehck disk space
     echo "Copy ${TARGET_MACHINE}_${TARGET_DIRECTORY} ...."
     echo "==="

jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash

@@ -5,14 +5,16 @@
 export CMAKE_PREFIX_PATH="/opt/jsk/System/ros1_dependencies:${CMAKE_PREFIX_PATH}"
 export PKG_CONFIG_PATH="/opt/jsk/System/ros1_dependencies/lib/pkgconfig:${PKG_CONFIG_PATH}"
 export LD_LIBRARY_PATH="/opt/jsk/System/ros1_dependencies/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
+# Python's sys.path is automatically set in /usr/lib/python2.7/sitecustomize.py
+# export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
 
 # GI : for gir1.2-gstreamer-1.0, which is installed by ros1_dependencies_build_scripts/0006-gstreamer
 export GI_TYPELIB_PATH="/opt/jsk/System/ros1_dependencies/lib/girepository-1.0"
 
 # Python
 export LD_LIBRARY_PATH="/opt/jsk/System/Python/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
+# Python's sys.path is automatically set in /usr/lib/python2.7/sitecustomize.py
+# export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
 export PATH="/opt/jsk/System/Python/bin:${PATH}"
 
 

jsk_unitree_robot/cross/startup_scripts/sitecustomize.py

@@ -0,0 +1,39 @@
+# install the apport exception handler if available
+import site
+import sys
+import os
+import os.path as osp
+
+site.PREFIXES += [
+    '/opt/jsk/System/Python/',
+    '/opt/jsk/System/ros1_dependencies/',
+    '/opt/jsk/System/ros1_inst/',
+]
+
+
+def recursively_listup_paths(path):
+    paths = []
+    for sub_path in os.listdir(path):
+        sub_full_path = osp.join(path, sub_path)
+        if osp.isdir(sub_full_path) and (sub_path.endswith('.egg-info') or sub_path.endswith('.egg')):
+            paths.append(sub_full_path)
+    return paths
+
+
+paths = []
+for path in site.getsitepackages():
+    if osp.exists(path):
+        paths.append(path)
+        paths.extend(recursively_listup_paths(path))
+    site_package = osp.join(osp.dirname(path), 'site-packages')
+    if site_package != path and osp.exists(site_package):
+        paths.append(site_package)
+        paths.extend(recursively_listup_paths(site_package))
+
+sys.path.extend(paths)
+try:
+    import apport_python_hook
+except ImportError:
+    pass
+else:
+    apport_python_hook.install()