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Build/install wheel for Python packages #1196

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Build/install wheel for Python packages #1196

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29 changes: 22 additions & 7 deletions cmake/templates/python_distutils_install.sh.in
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,25 @@ echo_and_run mkdir -p "$DESTDIR@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@"
echo_and_run /usr/bin/env \
PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
CATKIN_BINARY_DIR="@CMAKE_BINARY_DIR@" \
"@PYTHON_EXECUTABLE@" \
"@CMAKE_CURRENT_SOURCE_DIR@/setup.py" \
@SETUPTOOLS_EGG_INFO@ \
build --build-base "@CMAKE_CURRENT_BINARY_DIR@" \
install \
--root="${DESTDIR-/}" \
@SETUPTOOLS_ARG_EXTRA@ --prefix="@CMAKE_INSTALL_PREFIX@" --install-scripts="@CMAKE_INSTALL_PREFIX@/@CATKIN_GLOBAL_BIN_DESTINATION@"
"@PYTHON_EXECUTABLE@" "-m" "build" \
"--no-isolation" \
"--wheel" \
"--outdir" "@CMAKE_CURRENT_BINARY_DIR@/wheel" \
"@CMAKE_CURRENT_SOURCE_DIR@"

# Use pip to install the whl archive into the workspace's install directory
WHEELFILE=$(ls "@CMAKE_CURRENT_BINARY_DIR@"/wheel/*.whl)
echo_and_run /usr/bin/env \
PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
CATKIN_BINARY_DIR="@CMAKE_BINARY_DIR@" \
PYTHONUSERBASE="@CMAKE_INSTALL_PREFIX@" \
"@PYTHON_EXECUTABLE@" "-m" "pip" "install" \
"--root" "/" \
"--isolated" \
"--no-deps" \
"--no-index" \
"--progress-bar" "off" \
"--disable-pip-version-check" \
"--user" \
"--upgrade" \
"$WHEELFILE"
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I tested various combinations of the --root, --target, and --prefix options available in pip (see https://stackoverflow.com/a/53870246/109517) and the --root + --user + PYTHONUSERBASE route seems the least hacky.

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@mikepurvis mikepurvis Apr 11, 2024 •
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This might also be over the top to be involving pip here when it could be as simple as reaching into setuptools to invoke the install/run method:

https://github.com/pypa/setuptools/blob/6ee23bf0579c52e1cbe7c97fc20fd085ff2a25c7/setuptools/command/install.py#L78-L89

Or using the new pypa/installer method as suggested in the original warning message: https://installer.pypa.io/en/stable/

4 changes: 4 additions & 0 deletions package.xml
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Expand Up @@ -30,9 +30,13 @@
<buildtool_depend>cmake</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-build</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-wheel</buildtool_depend>

<buildtool_export_depend>cmake</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-build</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-wheel</buildtool_export_depend>
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Probably need a dep here for pip too; on NixOS at least neither the module nor executable is bundled with Python: https://search.nixos.org/packages?query=pip


<build_export_depend>google-mock</build_export_depend>
<build_export_depend>gtest</build_export_depend>
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