A small Python library to analyze ROS CMake files
The code in this project requires both Python 3.12+ and Poetry to be installed. Since Python 3.12 or greater is not provided as the system Python installation on many distributions, we optionally recommend using pyenv to automatically install a standalone Python 3.12 without interfering with the rest of your system.
pyenv is a tool for managing multiple Python installations. Installation instructions for pyenv can be found at https://github.com/pyenv/pyenv-installer. Once you have installed the dependencies for pyenv, you can quickly install pyenv itself by executing the following:
curl https://pyenv.run | bash
You should then check that your ~/.profile sources ~/.bashrc.
Once you have ensured that is the case, you should add the following lines to
~/.profile immediately prior to the point where ~/.bashrc is
sourced.
export PYENV_ROOT="$HOME/.pyenv"
export PATH="$PYENV_ROOT/bin:$PATH"
eval "$(pyenv init --path)"
Additionally, you should add the following lines to your ~/.bashrc:
eval "$(pyenv init -)"
eval "$(pyenv virtualenv-init -)"
After making the above changes, you should restart your shell so that the changes
in ~/.profile and ~/.bashrc take effect. You can then install
Python 3.12.0 via the following:
pyenv install 3.12.0
Poetry is a dependency management and virtual environment management tool for Python. It allows you to safely isolate the installation of your package and its dependencies from your system's Python installation.
To install Poetry:
curl -sSL https://raw.githubusercontent.com/python-poetry/poetry/master/get-poetry.py | python
source $HOME/.poetry/env
More detailed installation instructions can be found at: https://python-poetry.org/docs/#installation
If you are using macOS and plan to use the ROS anatomy pipeline natively, rather than via the provided Docker image, you will also need to install the following dependencies:
brew install libmagic
To install this project via pyenv and Poetry:
git clone git@github.com:cmu-rss/ros-cmak-analyzer
cd ros-cmak-analyzer
pyenv local 3.12.0
poetry install
Notice that pyenv local 3.12.0 instructs pyenv to use
Python 3.12.0 as python within the repo directory.
$ cd ros-cmak-analyzer
$ python --version
Python 3.12.0
In addition, there is a devcontainer defintion in devcontainer/devcontainer.json.
The library defines code for reading package.xml and CMakeLists.txt files to
determine the source code for nodes, plugins, and other libraries.
To use in your own code, you need to do the following (for ROS 1):
import ros_cmake_analyzer.ros1.ROS1CMakeExtractor
path = "." # Path contains a package.xml and CMakeLists.txt
cmake = ROS1CMakeExtractor(path)
info = cmake.get_cmake_info()The info object is an instance of ros_cmake_extractor.CMakeInfo, which contains
a dictionary of targets, keyed by name, a list of sources that will be generated,
a set of referenced files that could not be resolved (along with where they appeared),
and a list of commands not processed (along with where they appeared).
Note that when the analyzer is used on projects that are not built, the generated sources will not exist.