diff --git a/installer/bootstrap.bash b/installer/bootstrap.bash
index cbcf85350..4cb25eeb4 100755
--- a/installer/bootstrap.bash
+++ b/installer/bootstrap.bash
@@ -58,6 +58,11 @@ function main
TUE_ROS_DISTRO=
TUE_ROS_VERSION=
+ # Python configuration
+ create_virtualenv="true"
+ virtualenv_include_system_site_packages="false"
+ TUE_PPM="pip" # Default to pip
+
for i in "$@"
do
case $i in
@@ -73,13 +78,29 @@ function main
--create-virtualenv=* )
create_virtualenv="${i#*=}"
;;
+ --virtualenv-include-system-site-packages=* )
+ virtualenv_include_system_site_packages="${i#*=}"
+ ;;
+ --pip )
+ TUE_PPM="pip"
+ ;;
+ --poetry )
+ TUE_PPM="poetry"
+ ;;
* )
echo "[tue-env](bootstrap) Error! Unknown argument '${i}' provided to bootstrap script."
- return 1
+ exit 1
;;
esac
done
+ # Poetry should only be used in combination with a virtualenv
+ if [[ "${TUE_PPM}" == "poetry" && "${create_virtualenv}" == "false" ]]
+ then
+ echo "[tue-env](bootstrap) Error! Poetry is not installed."
+ return 1
+ fi
+
case ${DISTRIB_RELEASE} in
"20.04")
if [[ "${ros_version}" -eq 2 ]]
@@ -200,6 +221,13 @@ function main
git clone "${env_url}" "${env_dir}"
fi
+# Install Poetry when needed
+ if [[ "${TUE_PPM}" == "poetry" ]]
+ then
+ echo "[tue-env](bootstrap) Installing Poetry"
+ curl -sSL https://install.python-poetry.org | python3 -
+ fi
+
# Source the installer commands
# No need to follow to a file which is already checked by CI
# shellcheck disable=SC1090
@@ -209,11 +237,15 @@ function main
mkdir -p "${workspace_dir}"
# Initialize ros environment directory incl. targets
- tue-env init "${workspace}" "${workspace_dir}" "--create-virtualenv=${create_virtualenv}" "--targets-url=${env_targets_url}"
+ tue-env init "${workspace}" "${workspace_dir}" \
+ "--create-virtualenv=${create_virtualenv}" \
+ "--virtualenv-include-system-site-packages=${virtualenv_include_system_site_packages}" \
+ "--targets-url=${env_targets_url}"
# Configure environment
tue-env config "${workspace}" set "TUE_ROS_DISTRO" "${TUE_ROS_DISTRO}"
tue-env config "${workspace}" set "TUE_ROS_VERSION" "${TUE_ROS_VERSION}"
+ tue-env config "${workspace}" set "TUE_PPM" "${TUE_PPM}"
# Add loading of TU/e tools (tue-env, tue-get, etc) to bashrc
# shellcheck disable=SC2088
diff --git a/installer/check-pip-pkg-installed-version.py b/installer/check-pip-pkg-installed-version.py
index bc6789e50..4a073b443 100755
--- a/installer/check-pip-pkg-installed-version.py
+++ b/installer/check-pip-pkg-installed-version.py
@@ -1,23 +1,20 @@
#! /usr/bin/env python3
-import sys
+import site
+from typing import List
from pip._internal.req.constructors import install_req_from_line
from pip._internal.utils.virtualenv import running_under_virtualenv
-def main() -> int:
- if len(sys.argv) < 2:
- print("Usage: check-pip-pkg-installed-version.py requirement [requirements]")
- return 2
-
+def main(req_strs: List[str]) -> int:
return_code = 0
pkg_installed = []
try:
- for arg in sys.argv[1:]:
- req = install_req_from_line(arg)
+ for req_str in req_strs:
+ req = install_req_from_line(req_str)
- req.check_if_exists(not running_under_virtualenv())
+ req.check_if_exists(not running_under_virtualenv)
if req.satisfied_by:
pkg_installed.append(str(req.satisfied_by).replace(" ", "^"))
@@ -34,4 +31,14 @@ def main() -> int:
if __name__ == "__main__":
- sys.exit(main())
+ import argparse
+ import sys
+
+ parser = argparse.ArgumentParser(
+ description="Check if a set of pip package is installed, meeting a requirement string."
+ )
+ parser.add_argument("req_strs", nargs="+")
+
+ args = parser.parse_args()
+
+ sys.exit(main(**vars(args)))
diff --git a/installer/tue-install-impl.bash b/installer/tue-install-impl.bash
index f3bdf3f23..53e9c9e29 100755
--- a/installer/tue-install-impl.bash
+++ b/installer/tue-install-impl.bash
@@ -168,7 +168,7 @@ function _remove_old_target_dep_recursively
old_dep_dep_file="${TUE_INSTALL_DEPENDENCIES_DIR}"/"${old_dep_target}"
if [[ -f "${old_dep_dep_file}" ]]
then
- # Iterate over all depencies of old_dep_target, which is removed.
+ # Iterate over all dependencies of old_dep_target, which is removed.
while read -r dep_of_old_dep
do
# Actually remove the deps
@@ -183,11 +183,11 @@ function _remove_old_target_dep_recursively
done < "${old_dep_dep_file}"
rm -f "${old_dep_dep_file}"
else
- tue-install-debug "[remove_old_dep] No depencies file exist for target: ${old_dep_target}"
+ tue-install-debug "[remove_old_dep] No dependencies file exist for target: ${old_dep_target}"
fi
tue-install-debug "[remove_old_dep] Uninstalled '${old_dep_target}' as a dependency of '${parent_target}'"
- tue-install-info "[remove_old_dep] '${old_dep_target}' has been uninstalled, you can remove it from the workspace or deinstall it in another way"
+ tue-install-info "[remove_old_dep] '${old_dep_target}' has been uninstalled, you can remove it from the workspace or uninstall it in another way"
return ${error_code}
}
@@ -309,7 +309,7 @@ function tue-install-target
[ "$now" == "true" ] && now_cmd="--now"
# Do not use 'local cmds=' because it does not preserve command output status ($?)
local cmds
- if cmds=$("$TUE_INSTALL_SCRIPTS_DIR"/parse_install_yaml.py "$install_file".yaml $now_cmd)
+ if cmds=$(/usr/bin/python "${TUE_INSTALL_SCRIPTS_DIR}"/parse_install_yaml.py "${install_file}".yaml ${now_cmd})
then
for cmd in $cmds
do
@@ -352,7 +352,7 @@ function tue-install-target
old_deps_removed=$(comm -23 <(echo "${old_deps}") <(echo "${new_deps}"))
if [[ -n ${old_deps_removed} ]]
then
- tue-install-debug "Following dropped depedencies need to be removed:\n${old_deps_removed}"
+ tue-install-debug "Following dropped dependencies need to be removed:\n${old_deps_removed}"
else
tue-install-debug "No dropped dependencies to be removed"
fi
@@ -361,7 +361,7 @@ function tue-install-target
do
# Remove this target from dep-on file of dep
# When the dep-on file is now empty, remove it
- # Recurisvely -> Remove it from the dep-on files of its deps
+ # Recursively -> Remove it from the dep-on files of its deps
tue-install-debug "Going to remove '${dep}' as a dependency"
_remove_old_target_dep_recursively "${target}" "${dep}" || tue-install-error "Something went wrong while removing '${dep}' as a dependency"
done
@@ -1093,6 +1093,49 @@ function tue-install-pip3
# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+function _handle_python_sites
+{
+ local pv
+ pv=$1
+ shift
+ # requires the parent function to have declared the following local variables:
+ # python_exec, site_arg, sudo_cmd, user_arg
+ tue-install-debug "_handle_python${pv}_sites $*"
+
+ local site
+ site=$1
+
+ case ${site} in
+ "system" )
+ python_exec=/usr/bin/python"${pv}"
+ site_arg="-s"
+ sudo_cmd="sudo -H"
+ user_arg=""
+ ;;
+ "user" )
+ python_exec=/usr/bin/python"${pv}"
+ site_arg=""
+ sudo_cmd=""
+ user_arg="--user"
+ ;;
+ "venv" )
+ python_exec=python"${pv}"
+ site_arg="-s"
+ sudo_cmd=""
+ user_arg=""
+ ;;
+ * )
+ tue-install-error "_handle_python${pv}_sites: Unknown input variable ${i}"
+ ;;
+ esac
+
+ tue-install-debug "python_site: ${python_site}"
+ tue-install-debug "python_exec: ${python_exec}"
+ tue-install-debug "site_arg: ${site_arg}"
+ tue-install-debug "sudo_cmd: ${sudo_cmd}"
+ tue-install-debug "user_arg: ${user_arg}"
+}
+
function _tue-install-pip-now
{
local pv
@@ -1105,25 +1148,42 @@ function _tue-install-pip-now
tue-install-error "Invalid tue-install-pip${pv}-now call: needs package as argument."
fi
- local user_arg
- [[ -z "${VIRTUAL_ENV}" ]] && user_arg="--user"
+ local pips python_site
+ { [[ -n ${VIRTUAL_ENV} ]] && python_site="venv"; } || python_site="user"
+ if [[ -n $1 ]]
+ then
+ for i in "$@"
+ do
+ case $i in
+ --python-site=* )
+ python_site="${i#*=}"
+ ;;
+ --* )
+ tue-install-error "tue-install-pip${pv}-now: Unknown input variable ${i}" ;;
+ * )
+ pips+=("$i") ;;
+ esac
+ done
+ fi
+
+ local python_exec site_arg sudo_cmd user_arg
+ _handle_python_sites "${pv}" "${python_site}"
# Make sure pip is up-to-date before checking version and installing
local pip_version desired_pip_version
- pip_version=$(python"${pv}" -m pip --version | awk '{print $2}')
+ pip_version=$(python"${pv}" ${site_arg} -m pip --version | awk '{print $2}')
desired_pip_version="23"
if version_gt "$desired_pip_version" "$pip_version"
then
tue-install-debug "pip${pv} not yet version >=$desired_pip_version, but $pip_version"
- tue-install-pipe python"${pv}" -m pip install ${user_arg} --upgrade pip
+ tue-install-pipe python"${pv}" ${site_arg} -m pip install "${user_arg}" --upgrade pip
hash -r
else
tue-install-debug "Already pip${pv}>=$desired_pip_version"
fi
local pips_to_check pips_to_check_w_options pips_to_install pips_to_install_w_options git_pips_to_install
- # shellcheck disable=SC2048
- for pkg in $*
+ for pkg in "${pips[@]}"
do
if [[ "$pkg" == "git+"* ]]
then
@@ -1143,7 +1203,7 @@ function _tue-install-pip-now
then
local indexes_to_install
# shellcheck disable=SC2086
- _tue-install-pip-check "$pv" $pips_to_check
+ _tue-install-pip-check "${pv}" --python-site=${python_site} ${pips_to_check}
read -r -a pips_to_check <<< "$pips_to_check"
@@ -1165,7 +1225,7 @@ function _tue-install-pip-now
pips_to_check_options_removed="$pips_to_check_options_removed ${pkg_split[0]}"
done
# shellcheck disable=SC2086
- _tue-install-pip-check "$pv" $pips_to_check_options_removed
+ _tue-install-pip-check "${pv}" --python-site=${python_site} ${pips_to_check_options_removed}
read -r -a pips_to_check_w_options <<< "$pips_to_check_w_options"
@@ -1181,7 +1241,7 @@ function _tue-install-pip-now
if [ -n "$pips_to_install" ]
then
# shellcheck disable=SC2048,SC2086
- tue-install-pipe python"${pv}" -m pip install ${user_arg} $pips_to_install <<< yes || tue-install-error "An error occurred while installing pip${pv} packages."
+ tue-install-pipe ${sudo_cmd} ${python_exec} ${site_arg} -m pip install ${user_arg} $pips_to_install <<< yes || tue-install-error "An error occurred while installing pip${pv} packages."
fi
if [ -n "$pips_to_install_w_options" ]
@@ -1189,7 +1249,7 @@ function _tue-install-pip-now
for pkg in $pips_to_install_w_options
do
# shellcheck disable=SC2048,SC2086
- tue-install-pipe python"${pv}" -m pip install ${user_arg} ${pkg//^/ } <<< yes || tue-install-error "An error occurred while installing pip${pv} packages with options."
+ tue-install-pipe ${sudo_cmd} ${python_exec} ${site_arg} -m pip install ${user_arg} ${pkg//^/ } <<< yes || tue-install-error "An error occurred while installing pip${pv} packages with options."
done
fi
@@ -1198,7 +1258,7 @@ function _tue-install-pip-now
for pkg in $git_pips_to_install
do
# shellcheck disable=SC2048,SC2086
- tue-install-pipe python"${pv}" -m pip install ${user_arg} ${pkg} <<< yes || tue-install-error "An error occurred while installing pip${pv} git packages."
+ tue-install-pipe ${sudo_cmd} ${python_exec} ${site_arg} -m pip install ${user_arg} ${pkg} <<< yes || tue-install-error "An error occurred while installing pip${pv} git packages."
done
fi
}
@@ -1210,12 +1270,36 @@ function _tue-install-pip-check
pv=$1
shift
- local pips_to_check installed_versions
- pips_to_check=("$@")
+ local installed_versions python_site pips_to_check
+ if [[ -n $1 ]]
+ then
+ for i in "$@"
+ do
+ case $i in
+ --python-site=* )
+ python_site="${i#*=}"
+ ;;
+ --* )
+ tue-install-error "Unknown input variable ${i}" ;;
+ * )
+ pips_to_check+=("$i") ;;
+ esac
+ done
+ fi
+
+ if [[ -z "${VIRTUAL_ENV}" && "${site}" == "venv" ]]
+ then
+ tue-install-error "Trying to check pip packages in a virtualenv, but no virtualenv is activated"
+ fi
+
+ # Set by _handle_python_sites
+ local python_exec sudo_cmd site_arg user_arg
+ _handle_python_sites "${pv}" "${python_site}"
+
if [ ${#pips_to_check[@]} -gt 0 ]
then
local error_code
- installed_versions=$(python"${pv}" "$TUE_INSTALL_SCRIPTS_DIR"/check-pip-pkg-installed-version.py "${pips_to_check[@]}")
+ installed_versions=$(${sudo_cmd} "${python_exec}" ${site_arg} "${TUE_INSTALL_SCRIPTS_DIR}"/check-pip-pkg-installed-version.py "${pips_to_check[@]}")
error_code=$?
if [ "$error_code" -gt 1 ]
then
@@ -1493,10 +1577,11 @@ function tue-install-ros
local pkg_xml="$ros_pkg_dir"/package.xml
if [ -f "$pkg_xml" ]
then
- # Catkin
+ # catkin/ament/colcon
tue-install-debug "Parsing $pkg_xml"
+
local deps
- deps=$("$TUE_INSTALL_SCRIPTS_DIR"/parse_package_xml.py "$pkg_xml")
+ deps=$(/usr/bin/python "${TUE_INSTALL_SCRIPTS_DIR}"/parse_package_xml.py "${pkg_xml}")
tue-install-debug "Parsed package.xml\n$deps"
for dep in $deps
@@ -1636,7 +1721,8 @@ TUE_INSTALL_INFOS=
# Make sure tools used by this installer are installed
tue-install-system-now curl git jq python-is-python3 python3-pip wget
-tue-install-pip3-now catkin-pkg PyYAML
+# Install in user or system site-packages
+tue-install-pip3-now --python-site="user" catkin-pkg PyYAML
# Handling of targets
@@ -1674,7 +1760,7 @@ do
tue-install-debug "[$target] marked as installed after a successful install"
touch "$TUE_INSTALL_INSTALLED_DIR"/"$target"
else
- tue-install-debug "[$target] succesfully updated"
+ tue-install-debug "[$target] successfully updated"
fi
done
@@ -1746,6 +1832,6 @@ fi
TUE_INSTALL_CURRENT_TARGET="main-loop"
-tue-install-echo "Installer completed succesfully"
+tue-install-echo "Installer completed successfully"
return 0
diff --git a/setup/tue-functions.bash b/setup/tue-functions.bash
index 4b31c74ac..e76cd76c1 100644
--- a/setup/tue-functions.bash
+++ b/setup/tue-functions.bash
@@ -457,10 +457,10 @@ function tue-make
# Disable symlink install for production
if [ "${CI_INSTALL}" == "true" ]
then
- rm -rf "$TUE_SYSTEM_DIR"/install
- python3 -m colcon --log-base "$TUE_SYSTEM_DIR"/log build --base-paths "$TUE_SYSTEM_DIR"/src --build-base "$TUE_SYSTEM_DIR"/build --install-base "$TUE_SYSTEM_DIR"/install "$@"
+ rm -rf "${TUE_SYSTEM_DIR}"/install
+ /usr/bin/python3 -m colcon --log-base "${TUE_SYSTEM_DIR}"/log build --base-paths "${TUE_SYSTEM_DIR}"/src --build-base "${TUE_SYSTEM_DIR}"/build --install-base "${TUE_SYSTEM_DIR}"/install "$@"
else
- python3 -m colcon --log-base "$TUE_SYSTEM_DIR"/log build --merge-install --symlink-install --base-paths "$TUE_SYSTEM_DIR"/src --build-base "$TUE_SYSTEM_DIR"/build --install-base "$TUE_SYSTEM_DIR"/install "$@"
+ /usr/bin/python3 -m colcon --log-base "${TUE_SYSTEM_DIR}"/log build --merge-install --symlink-install --base-paths "${TUE_SYSTEM_DIR}"/src --build-base "${TUE_SYSTEM_DIR}"/build --install-base "${TUE_SYSTEM_DIR}"/install "$@"
fi
return $?
else