Split tf2_kdl and Port Python Functionality

geometry2/package.xml

@@ -27,9 +27,11 @@
   <exec_depend>tf2_eigen_kdl</exec_depend>
   <exec_depend>tf2_geometry_msgs</exec_depend>
   <exec_depend>tf2_kdl</exec_depend>
+  <exec_depend>tf2_kdl_py</exec_depend>
   <exec_depend>tf2_msgs</exec_depend>
   <exec_depend>tf2_py</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>tf2_ros_py</exec_depend>
   <exec_depend>tf2_sensor_msgs</exec_depend>
   <exec_depend>tf2_tools</exec_depend>
 

tf2_kdl/CMakeLists.txt

@@ -19,9 +19,6 @@ find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME}
-     PACKAGE_DIR src/${PROJECT_NAME})
-
 add_library(tf2_kdl INTERFACE)
 target_link_libraries(tf2_kdl INTERFACE
   ${builtin_interfaces_TARGETS}
@@ -37,11 +34,6 @@ install(TARGETS tf2_kdl EXPORT export_tf2_kdl)
 
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
-# TODO(ahcorde): Port python once https://github.com/ros2/orocos_kinematics_dynamics/pull/4 is merged
-# install(PROGRAMS scripts/test.py
-#     DESTINATION lib/${PROJECT_NAME}
-# )
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rclcpp REQUIRED)

tf2_kdl/package.xml

@@ -22,8 +22,6 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
-  <exec_depend>tf2_ros_py</exec_depend>
-
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>tf2_msgs</test_depend>

tf2_kdl_py/CHANGELOG.rst

@@ -0,0 +1,3 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package tf2_kdl_py
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

tf2_kdl_py/package.xml

@@ -0,0 +1,25 @@
+<package format="2">
+  <name>tf2_kdl_py</name>
+  <version>0.36.1</version>
+  <description>
+    PyKDL binding for tf2
+  </description>
+
+  <maintainer email="[email protected]">Alejandro Hernandez Cordero</maintainer>
+  <maintainer email="[email protected]">Chris Lalancette</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>python_orocos_kdl_vendor</exec_depend>
+  <exec_depend>tf2_ros_py</exec_depend>
+
+  <test_depend>builtin_interfaces</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>rclpy</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+
+</package>

tf2_kdl_py/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/tf2_kdl_py
+[install]
+install_scripts=$base/lib/tf2_kdl_py

tf2_kdl_py/setup.py

@@ -0,0 +1,21 @@
+from setuptools import find_packages, setup
+
+package_name = 'tf2_kdl_py'
+
+setup(
+    name=package_name,
+    version='0.36.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Alejandro Hernandez Cordero, Chris Lalancette',
+    maintainer_email='[email protected], [email protected]',
+    description='PyKDL binding for tf2',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+)

tf2_kdl/scripts/test.py → tf2_kdl_py/test/test_kdl.py

@@ -1,5 +1,3 @@
-#!/usr/bin/python
-
 # Copyright 2008 Willow Garage, Inc.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -36,7 +34,7 @@
 import PyKDL
 import rclpy
 import tf2_ros
-import tf2_kdl  # noqa(F401)
+import tf2_kdl_py  # noqa(F401)
 
 
 class KDLConversions(unittest.TestCase):