Remove python_orocos_kdl env-hooks, support devel-space build of pyth…

…on_orocos_kdl and invoke catkin_package()

Macro catkin_package() takes care of installing package.xml and setup scripts.
Usually it also installs cmake and pkg-config configuration files, but we skip this because
orocos_kdl already provides its own configuration and the Python bindings do not require it.

If the Python module is built in the correct path inside the devel-space, pointed to
by PYTHON_INSTALL_DIR and CATKIN_GLOBAL_PYTHON_DESTINATION, and also installed to this
directory, no env-hooks are required to update the PYTHONPATH and python_orocos_kdl even works
in devel-space.

This patch also allows to build orocos_kinematics_dynamics with colcon and colcon-ros (for ROS 1),
because python_orocos_kdl is correctly detected as a catkin package and colcon will add the
necessary hooks to update the PYTHONPATH, too.

orocos_kdl/CMakeLists.txt

@@ -27,6 +27,14 @@ MESSAGE( STATUS "Orocos KDL version ${VERSION} (${KDL_VERSION_MAJOR}.${KDL_VERSI
 SET( PROJ_SOURCE_DIR ${orocos_kdl_SOURCE_DIR} )
 SET( PROJ_BINARY_DIR ${orocos_kdl_BINARY_DIR} )
 
+# catkin-specific configuration (optional)
+find_package(catkin QUIET)
+if(catkin_FOUND)
+  catkin_package(
+    SKIP_CMAKE_CONFIG_GENERATION
+    SKIP_PKG_CONFIG_GENERATION
+  )
+endif()
 
 IF(NOT CMAKE_INSTALL_PREFIX)
   SET( CMAKE_INSTALL_PREFIX /usr/local/ CACHE PATH "Installation directory" FORCE)
@@ -125,6 +133,3 @@ CONFIGURE_FILE(orocos_kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc @ONLY)
 
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
-
-# Install package manifest (for catkin compatibility)
-INSTALL(FILES package.xml DESTINATION share/orocos_kdl)

orocos_kdl/package.xml

@@ -13,7 +13,7 @@
   <url>http://wiki.ros.org/orocos_kdl</url>
   <license>LGPL</license>
 
-  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
   <build_depend>eigen</build_depend>
 
   <exec_depend>catkin</exec_depend>

python_orocos_kdl/CMakeLists.txt

@@ -19,9 +19,20 @@ find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
 find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} REQUIRED)
 # get_python_lib in python3 produces path which isn't in sys.path: https://bugs.launchpad.net/ubuntu/+source/python3-stdlib-extensions/+bug/1832215
 # execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))" OUTPUT_VARIABLE PYTHON_SITE_PACKAGES OUTPUT_STRIP_TRAILING_WHITESPACE)
-set(PYTHON_SITE_PACKAGES_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages")
+set(PYTHON_SITE_PACKAGES_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages")  # This might be overridden below if built with catkin.
 set(LIBRARY_NAME "PyKDL")
 
+# catkin-specific configuration (optional)
+find_package(catkin QUIET)
+if(catkin_FOUND)
+  catkin_package(
+    SKIP_CMAKE_CONFIG_GENERATION
+    SKIP_PKG_CONFIG_GENERATION
+  )
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR})
+  set(PYTHON_SITE_PACKAGES_INSTALL_DIR "${PYTHON_INSTALL_DIR}")
+endif()
+
 message(DEPRECATION "PyKDL has been moved to PyBind11. PyKDL based on SIP might become depracted in the (near) future. To keep using the SIP based version set 'BUILD_PYKDL_PYBIND11' to OFF.")
 
 option(BUILD_PYKDL_PYBIND11 "Use PyBind11 instead of SIP" ON)
@@ -53,10 +64,3 @@ else (BUILD_PYKDL_PYBIND11)
   endif()
   add_sip_python_module(${LIBRARY_NAME} ${LIBRARY_NAME}/sip/${LIBRARY_NAME}.sip ${orocos_kdl_LIBRARIES})
 endif(BUILD_PYKDL_PYBIND11)
-
-install(FILES package.xml DESTINATION share/python_orocos_kdl)
-
-find_package(catkin QUIET)
-if(catkin_FOUND)
-  catkin_add_env_hooks(python_orocos_kdl_site_packages SHELLS bash tcsh zsh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
-endif()

python_orocos_kdl/package.xml

@@ -13,7 +13,7 @@
   <url>http://wiki.ros.org/python_orocos_kdl</url>
   <license>LGPL</license>
 
-  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>orocos_kdl</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION == 2">python-sip</build_depend>
@@ -32,7 +32,6 @@
   <doc_depend>python-sphinx</doc_depend>
 
   <export>
-    <build_type>cmake</build_type>
     <rosdoc config="rosdoc.yaml"/>
   </export>