Expose Spot C++ SDK via environment hooks (#79)

* Expose Spot C++ SDK via environment hooks Signed-off-by: Michel Hidalgo <[email protected]> * Add bosdyn_cmake_module as runtime dependency Signed-off-by: Michel Hidalgo <[email protected]> * Fix bad edit Signed-off-by: Michel Hidalgo <[email protected]> --------- Signed-off-by: Michel Hidalgo <[email protected]>
bdaiinstitute · Oct 4, 2024 · 9ca7a4b · 9ca7a4b
1 parent 730e51e
commit 9ca7a4b
Show file tree

Hide file tree

Showing 32 changed files with 93 additions and 65 deletions.
diff --git a/bosdyn_api_msgs/CMakeLists.txt b/bosdyn_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -29,6 +29,10 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES geometry_msgs
 )
 
-ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(
+  bosdyn_cmake_module
+  geometry_msgs
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_api_msgs/package.xml b/bosdyn_api_msgs/package.xml
@@ -12,9 +12,10 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>geometry_msgs</depend>
   <depend>proto2ros</depend>

diff --git a/bosdyn_auto_return_api_msgs/CMakeLists.txt b/bosdyn_auto_return_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(proto2ros REQUIRED)
 find_package(bosdyn_api_msgs REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -27,6 +27,10 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES bosdyn_api_msgs
 )
 
-ament_export_dependencies(bosdyn_api_msgs)
+ament_export_dependencies(
+  bosdyn_api_msgs
+  bosdyn_cmake_module
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_auto_return_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_auto_return_api_msgs/bosdyn_auto_return_api_msgs-extras.cmake b/bosdyn_auto_return_api_msgs/bosdyn_auto_return_api_msgs-extras.cmake
diff --git a/bosdyn_auto_return_api_msgs/package.xml b/bosdyn_auto_return_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>proto2ros</depend>

diff --git a/bosdyn_autowalk_api_msgs/CMakeLists.txt b/bosdyn_autowalk_api_msgs/CMakeLists.txt
@@ -14,8 +14,8 @@ find_package(bosdyn_spot_api_msgs REQUIRED)
 find_package(bosdyn_spot_cam_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -38,10 +38,12 @@ proto2ros_vendor_package(${PROJECT_NAME}
 
 ament_export_dependencies(
   bosdyn_api_msgs
+  bosdyn_cmake_module
   bosdyn_graph_nav_api_msgs
   bosdyn_mission_api_msgs
   bosdyn_spot_api_msgs
   bosdyn_spot_cam_api_msgs
+  bosdyn
 )
 
-ament_package(CONFIG_EXTRAS bosdyn_autowalk_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_autowalk_api_msgs/bosdyn_autowalk_api_msgs-extras.cmake b/bosdyn_autowalk_api_msgs/bosdyn_autowalk_api_msgs-extras.cmake
diff --git a/bosdyn_autowalk_api_msgs/package.xml b/bosdyn_autowalk_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>bosdyn_graph_nav_api_msgs</depend>

diff --git a/bosdyn_cmake_module/CMakeLists.txt b/bosdyn_cmake_module/CMakeLists.txt
@@ -9,4 +9,15 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package(CONFIG_EXTRAS "bosdyn_cmake_module-extras.cmake")
+set(BOSDYN_CMAKE_PREFIX_PATH /opt/spot-cpp-sdk)
+
+find_package(bosdyn REQUIRED PATHS "${BOSDYN_CMAKE_PREFIX_PATH}")
+
+get_target_property(BOSDYN_API_SO_LOCATION bosdyn::bosdyn_api IMPORTED_LOCATION_RELEASE)
+get_filename_component(BOSDYN_LIBRARY_PATH "${BOSDYN_API_SO_LOCATION}" DIRECTORY)
+set(AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_library_path
+  "prepend-non-duplicate;LD_LIBRARY_PATH;${BOSDYN_LIBRARY_PATH}"
+)
+ament_environment_hooks(cmake/templates/library_path.sh.in)
+
+ament_package(CONFIG_EXTRAS cmake/templates/bosdyn_cmake_module-extras.cmake.in)
diff --git a/...e_module/bosdyn_cmake_module-extras.cmake → ...lates/bosdyn_cmake_module-extras.cmake.in b/...e_module/bosdyn_cmake_module-extras.cmake → ...lates/bosdyn_cmake_module-extras.cmake.in
@@ -3,4 +3,5 @@
 find_package(Python3 REQUIRED)
 include(FetchContent)
 
+list(APPEND CMAKE_PREFIX_PATH "@BOSDYN_CMAKE_PREFIX_PATH@")
 include("${bosdyn_cmake_module_DIR}/fetch_spot_sdk.cmake")
diff --git a/bosdyn_api_msgs/bosdyn_api_msgs-extras.cmake → ...module/cmake/templates/library_path.sh.in b/bosdyn_api_msgs/bosdyn_api_msgs-extras.cmake → ...module/cmake/templates/library_path.sh.in
@@ -1,3 +1,3 @@
 # Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
+ament_prepend_unique_value LD_LIBRARY_PATH "@BOSDYN_LIBRARY_PATH@"
diff --git a/bosdyn_graph_nav_api_msgs/CMakeLists.txt b/bosdyn_graph_nav_api_msgs/CMakeLists.txt
@@ -11,8 +11,8 @@ find_package(bosdyn_api_msgs REQUIRED)
 find_package(bosdyn_spot_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -30,7 +30,9 @@ proto2ros_vendor_package(${PROJECT_NAME}
 
 ament_export_dependencies(
   bosdyn_api_msgs
+  bosdyn_cmake_module
   bosdyn_spot_api_msgs
+  bosdyn
 )
 
-ament_package(CONFIG_EXTRAS bosdyn_graph_nav_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_graph_nav_api_msgs/bosdyn_graph_nav_api_msgs-extras.cmake b/bosdyn_graph_nav_api_msgs/bosdyn_graph_nav_api_msgs-extras.cmake
diff --git a/bosdyn_graph_nav_api_msgs/package.xml b/bosdyn_graph_nav_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>>
   <depend>bosdyn_api_msgs</depend>
   <depend>bosdyn_spot_api_msgs</depend>

diff --git a/bosdyn_keepalive_api_msgs/CMakeLists.txt b/bosdyn_keepalive_api_msgs/CMakeLists.txt
@@ -11,8 +11,8 @@ find_package(bosdyn_api_msgs REQUIRED)
 find_package(bosdyn_auto_return_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -30,7 +30,9 @@ proto2ros_vendor_package(${PROJECT_NAME}
 
 ament_export_dependencies(
   bosdyn_api_msgs
+  bosdyn_cmake_module
   bosdyn_auto_return_api_msgs
+  bosdyn
 )
 
-ament_package(CONFIG_EXTRAS bosdyn_keepalive_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_keepalive_api_msgs/bosdyn_keepalive_api_msgs-extras.cmake b/bosdyn_keepalive_api_msgs/bosdyn_keepalive_api_msgs-extras.cmake
diff --git a/bosdyn_keepalive_api_msgs/package.xml b/bosdyn_keepalive_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>bosdyn_auto_return_api_msgs</depend>

diff --git a/bosdyn_log_status_api_msgs/CMakeLists.txt b/bosdyn_log_status_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(bosdyn_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -27,6 +27,10 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES bosdyn_api_msgs
 )
 
-ament_export_dependencies(bosdyn_api_msgs)
+ament_export_dependencies(
+  bosdyn_api_msgs
+  bosdyn_cmake_module
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_log_status_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_log_status_api_msgs/bosdyn_log_status_api_msgs-extras.cmake b/bosdyn_log_status_api_msgs/bosdyn_log_status_api_msgs-extras.cmake
diff --git a/bosdyn_log_status_api_msgs/package.xml b/bosdyn_log_status_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>proto2ros</depend>

diff --git a/bosdyn_metrics_logging_api_msgs/CMakeLists.txt b/bosdyn_metrics_logging_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(bosdyn_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -27,6 +27,10 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES bosdyn_api_msgs
 )
 
-ament_export_dependencies(bosdyn_api_msgs)
+ament_export_dependencies(
+  bosdyn_api_msgs
+  bosdyn_cmake_module
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_metrics_logging_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_metrics_logging_api_msgs/bosdyn_metrics_logging_api_msgs-extras.cmake b/bosdyn_metrics_logging_api_msgs/bosdyn_metrics_logging_api_msgs-extras.cmake
diff --git a/bosdyn_metrics_logging_api_msgs/package.xml b/bosdyn_metrics_logging_api_msgs/package.xml
@@ -12,9 +12,10 @@ Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>proto2ros</depend>

diff --git a/bosdyn_mission_api_msgs/CMakeLists.txt b/bosdyn_mission_api_msgs/CMakeLists.txt
@@ -13,8 +13,8 @@ find_package(bosdyn_spot_api_msgs REQUIRED)
 find_package(bosdyn_spot_cam_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -36,9 +36,11 @@ proto2ros_vendor_package(${PROJECT_NAME}
 
 ament_export_dependencies(
   bosdyn_api_msgs
+  bosdyn_cmake_module
   bosdyn_graph_nav_api_msgs
   bosdyn_spot_api_msgs
   bosdyn_spot_cam_api_msgs
+  bosdyn
 )
 
-ament_package(CONFIG_EXTRAS bosdyn_mission_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_mission_api_msgs/bosdyn_mission_api_msgs-extras.cmake b/bosdyn_mission_api_msgs/bosdyn_mission_api_msgs-extras.cmake
diff --git a/bosdyn_mission_api_msgs/package.xml b/bosdyn_mission_api_msgs/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>bosdyn_graph_nav_api_msgs</depend>

diff --git a/bosdyn_spot_api_msgs/CMakeLists.txt b/bosdyn_spot_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(bosdyn_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 file(GLOB ${PROJECT_NAME}_PROTOS
@@ -32,6 +32,11 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES bosdyn_api_msgs
 )
 
-ament_export_dependencies(bosdyn_api_msgs)
+ament_export_dependencies(
+  bosdyn_api_msgs
+  bosdyn_cmake_module
+  geometry_msgs
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_spot_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_spot_api_msgs/bosdyn_spot_api_msgs-extras.cmake b/bosdyn_spot_api_msgs/bosdyn_spot_api_msgs-extras.cmake
diff --git a/bosdyn_spot_api_msgs/package.xml b/bosdyn_spot_api_msgs/package.xml
@@ -12,9 +12,10 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>bosdyn_cmake_module</depend>
+
   <depend>bosdyn-spot-cpp</depend>
   <depend>bosdyn_api_msgs</depend>
   <depend>proto2ros</depend>

diff --git a/bosdyn_spot_cam_api_msgs/CMakeLists.txt b/bosdyn_spot_cam_api_msgs/CMakeLists.txt
@@ -10,8 +10,8 @@ find_package(ament_cmake REQUIRED)
 find_package(bosdyn_api_msgs REQUIRED)
 find_package(proto2ros REQUIRED)
 
-find_package(bosdyn REQUIRED PATHS /opt/spot-cpp-sdk)
 find_package(bosdyn_cmake_module REQUIRED)
+find_package(bosdyn REQUIRED)  # always after bosdyn_cmake_module
 
 fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
@@ -25,6 +25,10 @@ proto2ros_vendor_package(${PROJECT_NAME}
   ROS_DEPENDENCIES bosdyn_api_msgs
 )
 
-ament_export_dependencies(bosdyn_api_msgs)
+ament_export_dependencies(
+  bosdyn_api_msgs
+  bosdyn_cmake_module
+  bosdyn
+)
 
-ament_package(CONFIG_EXTRAS bosdyn_spot_cam_api_msgs-extras.cmake)
+ament_package()
diff --git a/bosdyn_spot_cam_api_msgs/bosdyn_spot_cam_api_msgs-extras.cmake b/bosdyn_spot_cam_api_msgs/bosdyn_spot_cam_api_msgs-extras.cmake