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Fix used values of AMENT_PREFIX_PATH #868

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merged 5 commits into from
Sep 2, 2021
Merged

Fix used values of AMENT_PREFIX_PATH #868

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a76abed
Update environment-variables-configuration.md
traversaro Aug 31, 2021
41f7abe
Fix use of AMENT_PREFIX_PATH
traversaro Aug 31, 2021
b45bdc7
Update CHANGELOG.md
traversaro Aug 31, 2021
40b4a47
Update icub-models_deactivate.msh
traversaro Sep 1, 2021
ffdaddd
Update matlab-whole-body-simulator_activate.msh
traversaro Sep 1, 2021
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3 changes: 3 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion cmake/template/addPathsToUserEnvVariables.ps1.in
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Expand Up @@ -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"
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2 changes: 1 addition & 1 deletion cmake/template/removePathsFromUserEnvVariables.ps1.in
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Expand Up @@ -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"
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2 changes: 1 addition & 1 deletion cmake/template/setup.bat.in
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion cmake/template/setup.sh.in
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Expand Up @@ -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
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4 changes: 2 additions & 2 deletions conda/multisheller/icub-models_activate.msh
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@@ -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"))
])
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6 changes: 3 additions & 3 deletions conda/multisheller/icub-models_deactivate.msh
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@@ -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")),
Expand All @@ -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"))
])
])
4 changes: 2 additions & 2 deletions conda/multisheller/matlab-whole-body-simulator_activate.msh
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@@ -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"))
])

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4 changes: 2 additions & 2 deletions conda/multisheller/matlab-whole-body-simulator_deactivate.msh
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@@ -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"))
])

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2 changes: 1 addition & 1 deletion doc/environment-variables-configuration.md
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Expand Up @@ -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.

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