[feature] Add ROSEnv generator integration for ROS2 builds

conan/internal/api/install/generators.py

@@ -32,7 +32,8 @@
                "SConsDeps": "conan.tools.scons",
                "QbsDeps": "conan.tools.qbs",
                "QbsProfile": "conan.tools.qbs",
-               "CPSDeps": "conan.tools.cps"
+               "CPSDeps": "conan.tools.cps",
+               "ROSEnv": "conan.tools.ros"
                }
 
 

conan/tools/ros/__init__.py

@@ -0,0 +1 @@
+from conan.tools.ros.rosenv import ROSEnv

conan/tools/ros/rosenv.py

@@ -0,0 +1,49 @@
+import os
+from conan.api.output import Color
+from conan.tools.env import VirtualBuildEnv, Environment
+from conan.tools.files import save
+
+
+class ROSEnv:
+    """
+    Generator to serve as integration for Robot Operating System 2 development workspaces.
+    It generates a conanrosenv.sh file that when sources sets variables so the Conan
+    dependencies are found by CMake and the run environment is also set.
+
+    IMPORTANT: This generator should be used together with CMakeDeps and CMakeToolchain generators.
+    """
+
+    def __init__(self, conanfile):
+        self._conanfile = conanfile
+        self._variables = {}
+        self.variables = {}
+        self._virtualbuildenv = VirtualBuildEnv(self._conanfile, auto_generate=True)
+        self._virtualbuildenv.basename = "conanrosenv"
+        self._rosenv_wrapper = "conanrosenv.sh"
+
+    def generate(self):
+        output_folder = self._conanfile.generators_folder
+        self._variables["CMAKE_TOOLCHAIN_FILE"] = os.path.join(output_folder, "conan_toolchain.cmake")
+        build_type = self._conanfile.settings.get_safe("build_type")
+        if build_type:
+            self._variables["CMAKE_BUILD_TYPE"] = build_type
+        self.variables.update(self._variables)
+
+        # Add ROS required variables to VirtualBuildEnv
+        rosbuildenv = Environment()
+        for k, v in self.variables.items():
+            rosbuildenv.define(k, v)
+        self._virtualbuildenv._buildenv = rosbuildenv
+        self._virtualbuildenv.generate()
+
+        # Generate conanrosenv.sh script wrapper that calls conanbuild.sh and conanrun.sh
+        # TODO: Windows .bat/.ps1 files still not supported for the wrapper
+        conanbuild_path = os.path.join(self._conanfile.generators_folder, "conanbuild.sh")
+        conanrun_path = os.path.join(self._conanfile.generators_folder, "conanrun.sh")
+        rosenv_wrapper_content = [f". \"{conanbuild_path}\"", f". \"{conanrun_path}\""]
+        conanrosenv_path = os.path.join(self._conanfile.generators_folder, self._rosenv_wrapper)
+        save(self._conanfile, conanrosenv_path, "\n".join(rosenv_wrapper_content))
+
+        msg = f"Generated ROSEnv Conan file: conanrosenv.sh\n" + \
+              f"Use 'source {conanrosenv_path}' to set the ROSEnv Conan before 'colcon build'"
+        self._conanfile.output.info(msg, fg=Color.CYAN)

test/integration/tools/ros/test_rosenv.py

@@ -0,0 +1,74 @@
+import os
+import textwrap
+import platform
+
+import pytest
+
+from conan.test.assets.genconanfile import GenConanfile
+from conan.test.utils.tools import TestClient
+
+
+@pytest.mark.skipif(platform.system() == "Windows", reason="Uses UNIX commands")
+def test_rosenv():
+    """
+    Test that the ROSEnv generator generates the environment files and that the environment variables are correctly set
+    """
+    client = TestClient()
+    conanfile3 = textwrap.dedent('''
+        [requires]
+        [generators]
+        CMakeDeps
+        CMakeToolchain
+        ROSEnv
+        ''')
+    client.save({
+        "conanfile3.txt": conanfile3
+    })
+
+    client.run("install conanfile3.txt --output-folder install/conan")
+    assert "Generated ROSEnv Conan file: conanrosenv.sh" in client.out
+    conanrosenv_path = os.path.join(client.current_folder, "install", "conan", "conanrosenv.sh")
+    assert os.path.exists(conanrosenv_path)
+    client.run_command(f". \"{conanrosenv_path}\" && env")
+    toolchain_path = os.path.join(client.current_folder, "install", "conan", "conan_toolchain.cmake")
+    assert f"CMAKE_TOOLCHAIN_FILE={toolchain_path}" in client.out
+    assert "CMAKE_BUILD_TYPE=Release" in client.out
+
+
+@pytest.mark.skipif(platform.system() == "Windows", reason="Uses UNIX commands")
+def test_rosenv_shared_libraries():
+    """
+    Test that the library paths env vars are set up correctly so that the executables built with
+    colcon can found the shared libraries of conan packages
+    """
+    client = TestClient()
+    c1 = GenConanfile("lib1", "1.0").with_shared_option(False).with_package_file("lib/lib1", "lib-content")
+    c2 = GenConanfile("lib2", "1.0").with_shared_option(False).with_requirement("lib1/1.0").with_package_file("lib/lib2", "lib-content")
+    c3 = textwrap.dedent('''
+           [requires]
+           lib2/1.0
+           [generators]
+           CMakeDeps
+           CMakeToolchain
+           ROSEnv
+           ''')
+    client.save({
+        "conanfile1.py": c1,
+        "conanfile2.py": c2,
+        "conanfile3.txt": c3
+    })
+
+    client.run("create conanfile1.py -o *:shared=True")
+    client.run("create conanfile2.py -o *:shared=True")
+    client.run("install conanfile3.txt -o *:shared=True --output-folder install/conan")
+    conanrosenv_path = os.path.join(client.current_folder, "install", "conan", "conanrosenv.sh")
+    client.run_command(f". \"{conanrosenv_path}\" && env")
+    environment_content = client.out
+    client.run(
+        "cache path lib1/1.0#58723f478a96866dcbd9456d8eefd7c4:1744785cb24e3bdca70e27041dc5abd20476f947")
+    lib1_lib_path = os.path.join(client.out.strip(), "lib")
+    assert lib1_lib_path in environment_content
+    client.run(
+        "cache path lib2/1.0#4b7a6063ba107d770458ce10385beb52:5c3c2e56259489f7ffbc8e494921eda4b747ef21")
+    lib2_lib_path = os.path.join(client.out.strip(), "lib")
+    assert lib2_lib_path in environment_content