From f3a56188589806c70bee5f0e9d71efcf679763f0 Mon Sep 17 00:00:00 2001
From: Micho Radovnikovich <mradov@gmail.com>
Date: Wed, 14 Oct 2020 01:36:35 -0400
Subject: [PATCH] Use rospy and setup.py to manage shebangs for Python 2 and
 Python 3

Following guidance found here: http://wiki.ros.org/UsingPython3/SourceCodeChanges#Changing_shebangs
---
 CMakeLists.txt                                |  9 +++++++
 package.xml                                   | 25 ++++++++++++-------
 setup.py                                      | 12 +++++++++
 src/hdl_graph_slam/__init__.py                |  0
 {scripts => src/hdl_graph_slam}/bag_player.py |  0
 {scripts => src/hdl_graph_slam}/ford2bag.py   |  0
 .../hdl_graph_slam}/map2odom_publisher.py     |  0
 7 files changed, 37 insertions(+), 9 deletions(-)
 create mode 100755 setup.py
 create mode 100644 src/hdl_graph_slam/__init__.py
 rename {scripts => src/hdl_graph_slam}/bag_player.py (100%)
 rename {scripts => src/hdl_graph_slam}/ford2bag.py (100%)
 rename {scripts => src/hdl_graph_slam}/map2odom_publisher.py (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4e38f06d..7f95e950 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ set(CMAKE_BUILD_TYPE "RELEASE")
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  rospy
   pcl_ros
   geodesy
   nmea_msgs
@@ -21,6 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
   ndt_omp
   fast_gicp
 )
+catkin_python_setup()
 
 find_package(PCL REQUIRED)
 include_directories(${PCL_INCLUDE_DIRS})
@@ -124,3 +126,10 @@ target_link_libraries(hdl_graph_slam_nodelet
 )
 add_dependencies(hdl_graph_slam_nodelet ${PROJECT_NAME}_gencpp)
 
+catkin_install_python(
+  PROGRAMS
+    src/${PROJECT_NAME}/bag_player.py
+    src/${PROJECT_NAME}/ford2bag.py
+    src/${PROJECT_NAME}/map2odom_publisher.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/package.xml b/package.xml
index 1ea2bc3c..fd14ff5a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>hdl_graph_slam</name>
   <version>0.0.0</version>
   <description>The hdl_graph_slam package</description>
@@ -13,6 +13,7 @@
   <build_depend>fast_gicp</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>geodesy</build_depend>
   <build_depend>nmea_msgs</build_depend>
@@ -20,14 +21,20 @@
   <build_depend>message_generation</build_depend>
   <build_depend>libg2o</build_depend>
 
-  <run_depend>ndt_omp</run_depend>
-  <run_depend>fast_gicp</run_depend>
-  <run_depend>pcl_ros</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>geodesy</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>nmea_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <exec_depend>ndt_omp</exec_depend>
+  <exec_depend>fast_gicp</exec_depend>
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>geodesy</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>nmea_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-progressbar</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-progressbar</exec_depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
diff --git a/setup.py b/setup.py
new file mode 100755
index 00000000..8097795e
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['hdl_graph_slam'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
+
diff --git a/src/hdl_graph_slam/__init__.py b/src/hdl_graph_slam/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/scripts/bag_player.py b/src/hdl_graph_slam/bag_player.py
similarity index 100%
rename from scripts/bag_player.py
rename to src/hdl_graph_slam/bag_player.py
diff --git a/scripts/ford2bag.py b/src/hdl_graph_slam/ford2bag.py
similarity index 100%
rename from scripts/ford2bag.py
rename to src/hdl_graph_slam/ford2bag.py
diff --git a/scripts/map2odom_publisher.py b/src/hdl_graph_slam/map2odom_publisher.py
similarity index 100%
rename from scripts/map2odom_publisher.py
rename to src/hdl_graph_slam/map2odom_publisher.py