python install模式開(kāi)發(fā)規(guī)則

本文章講述ROS系統(tǒng)下如何將python編譯為可以執(zhí)行文件,步驟比較簡(jiǎn)單,請(qǐng)嚴(yán)格執(zhí)行避免疏漏

git clone https://gitee.com/alen2020/ros_python_install_mode_files##取該目錄下的cmake目錄和setup.py,install.sh到自己節(jié)點(diǎn)的目錄cp -r cmake setup.py car_mqtt_api/

如果用到動(dòng)態(tài)參數(shù),還需要拷貝install.sh,并做下列修改(若如需用到動(dòng)態(tài)參數(shù),則以下請(qǐng)忽略)

cp install.sh car_mqtt_api/##需要修改install.sh下的package_name,修改為當(dāng)前包名package_name=package_path=`rospack find ${package_name}`if [ $# -eq 1 ]; then package_path=$1fi#注意默認(rèn)認(rèn)為.py文件放到src目錄下,如果放到scripts下,需要改為scripts #我默認(rèn)ROS工作空間的前綴目錄為/root/ROS/catkin_ws/ ,如不是則請(qǐng)修改mkdir $package_path/src/$package_name/cfgcp /root/ROS/catkin_ws/devel/lib/python2.7/dist-packages/$package_name/cfg/* $package_path/src/$package_name/cfg2.改造目錄結(jié)構(gòu)

##原結(jié)構(gòu),.py文件應(yīng)放在scripts文件夾下ls

主函數(shù)留在當(dāng)前目錄，被調(diào)用文件放到子目錄,子目錄同本包名

1) 修改當(dāng)前包下的CMakelist增加如下內(nèi)容，其中add_subdirectory根據(jù)自己python文件存放的目錄調(diào)整

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)# include CMake module for Cythoninclude(UseCython)add_custom_target(ReplicatePythonSourceTree ALL ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/ReplicatePythonSourceTree.cmake ${CMAKE_CURRENT_BINARY_DIR} WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})add_subdirectory(src)##如果用到動(dòng)態(tài)調(diào)參,需要另加上下面語(yǔ)句add_custom_target(install.sh ALL)add_custom_command(TARGET install.shPOST_BUILDCOMMAND /bin/sh ${PROJECT_SOURCE_DIR}/install.sh ${PROJECT_SOURCE_DIR}))

2) 在scripts目錄下添加CMakeLists.txt每一個(gè)被引用的文件都要寫(xiě)進(jìn)去,注意結(jié)尾要寫(xiě)主函數(shù)的文件名

##添加子目錄add_subdirectory(mypackage)cython_add_standalone_executable(1 MAIN_MODULE 1.py mypackage/2.py 1.py)install(TARGETS 1 RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

3) 在scripts目錄的子目錄下添加CMakeLists.txt所有被引用的文件都需要添加規(guī)則

cython_add_module(2 2.py)set_target_properties(2 PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION})install(TARGETS 2 LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})省略以下。。。4.非引用關(guān)系(單文件）

寫(xiě)兩次

cython_add_standalone_executable(car_mqtt_api_main MAIN_MODULE car_mqtt_api_main.py car_mqtt_api_main.py)install(TARGETS car_mqtt_api_main RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})5. 如何引用包

改規(guī)則后需要加上子目錄前綴

原from mypackage import 2改后from mypackage.2 import function6.cfg動(dòng)態(tài)調(diào)參

前面說(shuō)了子目錄要與本節(jié)點(diǎn)同名，因?yàn)榫幾g后并不會(huì)以子目錄的名稱命名，而是以節(jié)點(diǎn)名命名，編譯生成的可執(zhí)行文件會(huì)放到devel或install的lib/python2.7/dist-packages下,而以源碼模式運(yùn)行則會(huì)讀取子目錄下的cfg文件

如car_mqtt_api編譯后動(dòng)態(tài)調(diào)參的可執(zhí)行程序放到如下目錄

devel/lib/python2.7/dist-packages/mypackage/cfg

此時(shí)需要將該目錄下的文件copy到子目錄

mkdir -p mypackage/scritps/cfgcp */devel/lib/python2.7/dist-packages/mypackage/cfg scripts/mypackage/cfg7.常見(jiàn)bug

找不到模塊:在install/lib/python2.7/dist-packages/car_control目錄下放置__init__.py文件

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