Fix used values of AMENT_PREFIX_PATH (robotology#868)

Nicogene · Feb 14, 2022 · a5fc743 · a5fc743
1 parent 45017d9
commit a5fc743
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Showing 10 changed files with 17 additions and 14 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+### Fixed
+- Fixed the values assigned to the `AMENT_PREFIX_PATH` environment variable for ROS2 compatibility (https://github.com/robotology/robotology-superbuild/pull/868).
+
 ## [2021.08] - 2021-08-31
 
 ### Added

diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -43,7 +43,7 @@ Add-ValueToUserEnvVariable BLOCKFACTORY_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_INSTA
 
 # Setup to find resources in URDF and SDF files
 Add-ValueToUserEnvVariable ROS_PACKAGE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
-Add-ValueToUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
+Add-ValueToUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\iCub\robots"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"

diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -46,7 +46,7 @@ Remove-ValueFromUserEnvVariable BLOCKFACTORY_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_
 
 # Cleanup variables useful to find resources in URDF and SDF files
 Remove-ValueFromUserEnvVariable ROS_PACKAGE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
-Remove-ValueFromUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
+Remove-ValueFromUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX
 Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
 Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\iCub\robots"
 Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"

diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
@@ -13,7 +13,7 @@ set BLOCKFACTORY_PLUGIN_PATH=%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\@BLOCKFACTOR
 
 rem Variables to find resources in URDF and SDF files
 set "ROS_PACKAGE_PATH=%ROS_PACKAGE_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
-set "AMENT_PREFIX_PATH=%AMENT_PREFIX_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
+set "AMENT_PREFIX_PATH=%AMENT_PREFIX_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%"
 set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\gazebo\models;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\iCub\robots;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
 
 rem Bash completion

diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
@@ -25,7 +25,7 @@ export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH:+${GAZEBO_RESOURCE_PATH}:}${R
 @endcmakeif ROBOTOLOGY_USES_GAZEBO
 
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH:+${ROS_PACKAGE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
-export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH:+${AMENT_PREFIX_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
+export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH:+${AMENT_PREFIX_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}
 export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH:+${GAZEBO_MODEL_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
 
 @cmakeif ROBOTOLOGY_ENABLE_ROBOT_TESTING

diff --git a/conda/multisheller/icub-models_activate.msh b/conda/multisheller/icub-models_activate.msh
@@ -1,13 +1,13 @@
 if_(is_set("COMSPEC")).then_([
 	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub")),
 	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\models")),
 	sys.list_append("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\worls"))
 ]).else_([
 	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub")),
 	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/models")),
 	sys.list_append("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/worls"))
 ])

diff --git a/conda/multisheller/icub-models_deactivate.msh b/conda/multisheller/icub-models_deactivate.msh
@@ -1,13 +1,13 @@
 if_(is_set("COMSPEC")).then_([
 	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub")),
 	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\models")),
 	sys.list_remove("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\worls"))
 ]).else_([
 	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub")),
 	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/models")),
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/iCub/robots")),
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
@@ -26,4 +26,4 @@ if_(is_set("COMSPEC")).then_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
-])
+])
diff --git a/conda/multisheller/matlab-whole-body-simulator_activate.msh b/conda/multisheller/matlab-whole-body-simulator_activate.msh
@@ -1,12 +1,12 @@
 if_(is_set("COMSPEC")).then_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-  sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-  sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 

diff --git a/conda/multisheller/matlab-whole-body-simulator_deactivate.msh b/conda/multisheller/matlab-whole-body-simulator_deactivate.msh
@@ -1,12 +1,12 @@
 if_(is_set("COMSPEC")).then_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-  sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-  sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 

diff --git a/doc/environment-variables-configuration.md b/doc/environment-variables-configuration.md
@@ -29,7 +29,7 @@ Just on Linux, you need to append `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib` to
 while on macOS you need to append `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib` to [`DYLD_LIBRARY_PATH`](https://developer.apple.com/library/archive/documentation/DeveloperTools/Conceptual/DynamicLibraries/100-Articles/UsingDynamicLibraries.html).
 
 For what regards correctly loading resources in URDF files, you need to append `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share` to the
-[`ROS_PACKAGE_PATH`](http://wiki.ros.org/ROS/EnvironmentVariables#ROS_PACKAGE_PATH) environment variable for [ROS1](https://www.ros.org/), and to [`AMENT_PREFIX_PATH`](http://design.ros2.org/articles/ament.html) for [ROS2](https://index.ros.org/doc/ros2/)
+[`ROS_PACKAGE_PATH`](http://wiki.ros.org/ROS/EnvironmentVariables#ROS_PACKAGE_PATH) environment variable for [ROS1](https://www.ros.org/), and `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX` to [`AMENT_PREFIX_PATH`](http://design.ros2.org/articles/ament.html) for [ROS2](https://index.ros.org/doc/ros2/)
 
 To enable bash autocompletion, you need to add `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX\share` to `XDG_DATA_DIRS` environment variable.