colcon-core

import os # Create a dummy workspace and a simple Python package os.makedirs('my_workspace/src/my_python_package', exist_ok=True) with open('my_workspace/src/my_python_package/setup.py', 'w') as f: f.write(""" from setuptools import setup package_name = 'my_python_package' setup( name=package_name, version='0.0.0', packages=[package_name], data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']) ], install_requires=['setuptools'], zip_safe=True, maintainer='Your Name', maintainer_email='you@example.com', description='A minimal Python package for colcon', license='Apache-2.0', tests_require=['pytest'], entry_points={ 'console_scripts': [ 'my_node = my_python_package.main:main' ], }, ) """) with open('my_workspace/src/my_python_package/package.xml', 'w') as f: f.write(""" <?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>my_python_package</name> <version>0.0.0</version> <description>TODO: Package description</description> <maintainer email="you@example.com">Your Name</maintainer> <license>Apache-2.0</license> <test_depend>ament_copyright</test_depend> <test_depend>ament_flake8</test_depend> <test_depend>ament_pep257</test_depend> <test_depend>python3-pytest</test_depend> <export> <build_type>ament_python</build_type> </export> </package> """) with open('my_workspace/src/my_python_package/my_python_package/main.py', 'w') as f: f.write(""" def main(): print('Hello from my_python_package!') if __name__ == '__main__': main() """) os.makedirs('my_workspace/src/my_python_package/resource', exist_ok=True) with open('my_workspace/src/my_python_package/resource/my_python_package', 'w') as f: f.write('') # Now, build the workspace using colcon print('\n--- Running colcon build ---') os.system('cd my_workspace && colcon build --packages-select my_python_package') # Source the setup file and run the node print('\n--- Sourcing setup and running node ---') # For simplicity, we'll try to run directly if possible, or instruct sourcing. # In a real shell, you would run: . install/setup.bash (or .ps1, .bat) # For a self-contained python script, it's complex to source a shell file. # Instead, we will try to invoke the installed script directly if available node_path = 'my_workspace/install/my_python_package/lib/my_python_package/my_node' if os.path.exists(node_path): os.system(node_path) else: print("To run the node: cd my_workspace && . install/setup.bash && my_node")