Reorganize source files, add ROS setup.py

This makes it possible to import the source files without rospack.get_path(), and should also make it work from the catkin install space.
epfl-lasa · Jun 13, 2019 · 735be4e · 735be4e
1 parent f50228f
commit 735be4e
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Showing 10 changed files with 16 additions and 7 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,7 +20,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##

diff --git a/src/camera.py → nodes/camera b/src/camera.py → nodes/camera
diff --git a/src/dope.py → nodes/dope b/src/dope.py → nodes/dope
@@ -26,14 +26,12 @@
 from PIL import Image
 from PIL import ImageDraw
 
-# Import DOPE code
-rospack = rospkg.RosPack()
-g_path2package = rospack.get_path('dope')
-sys.path.append("{}/src/inference".format(g_path2package))
-from cuboid import *
-from detector import *
+from dope.inference.cuboid import Cuboid3d
+from dope.inference.cuboid_pnp_solver import CuboidPNPSolver
+from dope.inference.detector import ModelData, ObjectDetector
 
 ### Global Variables
+g_path2package = rospkg.RosPack().get_path('dope')
 g_bridge = CvBridge()
 g_img = None
 g_draw = None

diff --git a/src/training/train.py → scripts/train.py b/src/training/train.py → scripts/train.py
diff --git a/setup.py b/setup.py
@@ -0,0 +1,11 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['dope'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
diff --git a/src/dope/__init__.py b/src/dope/__init__.py
diff --git a/src/dope/inference/__init__.py b/src/dope/inference/__init__.py
diff --git a/src/inference/cuboid.py → src/dope/inference/cuboid.py b/src/inference/cuboid.py → src/dope/inference/cuboid.py
diff --git a/src/inference/cuboid_pnp_solver.py → src/dope/inference/cuboid_pnp_solver.py b/src/inference/cuboid_pnp_solver.py → src/dope/inference/cuboid_pnp_solver.py
diff --git a/src/inference/detector.py → src/dope/inference/detector.py b/src/inference/detector.py → src/dope/inference/detector.py