fabfile.py 文件源码

def _setup_ros_other_packages(rospkg, run_rosdep=True):
    run("echo 'Starting...'")

    home_path = run("pwd")
    ws_dir = home_path + WS_DIR
    if not fabfiles.exists(ws_dir):
        _fp("ROS Workspace not found - run the main set up first")
        return

    with cd(ws_dir):
        ts = str(time.time()).split(".")[0]
        fn = "kinetic-custom_" + str(ts) + "_ros.rosinstall"
        run("rosinstall_generator " + rospkg + " --rosdistro kinetic --deps --wet-only --tar > " + fn)

        run("cat " + fn)

        _pp("Did rosinstall generator create the install file correctly? If so, we're going to merge and update the workspace. (If there are duplicate packages, hit DELETE and REPLACE!)")

        run("wstool merge -y -t src " + fn)

        _pp("Did the wstool merge correctly?  If so, we are going to update on the install file for the workspace.")

        run("wstool update --delete-changed-uris -t src")


        _pp("Did the wstool update correctly?  If so, we are going to update dependencies.")

        if run_rosdep:
            run("rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie")

            _pp("Did the dependencies update ok?  If so, let's compile the new packages.")

            run("./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space " + home_path + INSTALL_DIR + " -j1")