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refactor: sparate ros2 dependency in aimrt_py #117

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merged 6 commits into from
Dec 3, 2024
Merged

refactor: sparate ros2 dependency in aimrt_py #117

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45c8784
feat: enhance aimrt_py with ROS2 support and modularize functionality
zhangyi1357 Dec 3, 2024
d9c7a10
chore: update .gitignore and refactor example scripts for improved cl…
zhangyi1357 Dec 3, 2024
6e12ea1
refactor: remove unused import from python_runtime initialization
zhangyi1357 Dec 3, 2024
be39f71
refactor: streamline ROS2 import structure and enhance CMake configur…
zhangyi1357 Dec 3, 2024
7e3b45d
feat: add support for additional ROS2 example script
zhangyi1357 Dec 3, 2024
c4cadcf
format code
zhangyi1357 Dec 3, 2024
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@zhangyi1357
zhangyi1357 committed Dec 3, 2024
commit c4cadcf8ca6c5b6ffff72efb291dca39cbcad854
6 changes: 2 additions & 4 deletions src/examples/utils/common.py
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Expand Up @@ -92,13 +92,11 @@ class TestResult:
default_ros2_rpc_srv_expected_outputs_python = [
R"Server handle new rpc call. "
R"req: example_ros2.srv.RosTestRpc_Request(data=[b'H', b'e', b'l', b'l', b'o', b' ', b'A', b'i', b'm', b'R', b'T', b'!']), "
R"return rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"
]
R"return rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"]
default_ros2_rpc_cli_expected_outputs_python = [
R"Call rpc done, status: suc, code 0, msg: OK, "
R"req: example_ros2.srv.RosTestRpc_Request(data=[b'H', b'e', b'l', b'l', b'o', b' ', b'A', b'i', b'm', b'R', b'T', b'!']), "
R"rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"
]
R"rsp: example_ros2.srv.RosTestRpc_Response(code=1000)"]

# Default exit string
default_exit_string = "AimRT exit."
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6 changes: 3 additions & 3 deletions src/runtime/python_runtime/CMakeLists.txt
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Expand Up @@ -41,9 +41,9 @@ if(AIMRT_BUILD_WITH_ROS2)
target_sources(${CUR_TARGET_NAME}_ros2 PRIVATE ${ros2_files})

target_link_libraries(
${CUR_TARGET_NAME}_ros2
PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core>
aimrt::interface::aimrt_module_ros2_interface)
${CUR_TARGET_NAME}_ros2 #
PRIVATE $<LINK_LIBRARY:WHOLE_ARCHIVE,aimrt::runtime::core> #
aimrt::interface::aimrt_module_ros2_interface)

set_target_properties(${CUR_TARGET_NAME}_ros2 PROPERTIES OUTPUT_NAME "aimrt_python_runtime_ros2")
endif()
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