ROS with Homebrew

ROS with Homebrew

Use Cases

Here are some scenarios for ROS and Homebrew interaction.

Installing a ros-dep

asdf

Running rosmake on a package that depends on a Keg only brew (tf)

User:

$ rosmake --rosdep-install tf

System:

Looks at /path/to/tf/pkg/manifest.xml for deps, like graphiz, and python-numpy
# inside rosmake (not rosdep)
for dep in deps:
    if type(dep) == HomebrewDependency:
        if dep.isSatisfied:
            if dep.isKegOnly:
                ROSMAKE_CMAKE_VARIABLES['CMAKE_MODULE_PATH'].append(subprocess.checkoutput(['brew', 'env-info', dep.name, '--cmake-module-path']))
                pkg_config_path = subprocess.checkoutput(['brew', 'env-info', dep.name, '--pkg-config-path'])
                ROSMAKE_CMAKE_VARIABLES['PKG_CONFIG_PATH'].append(pkg_config_path)
                ROSMAKE_ENV_VARIABLES['PKG_CONFIG_PATH'].append(pkg_config_path)
                ROSMAKE_ENV_VARIABLES['CFLAGS'].append(subprocess.checkoutput(['brew', 'env-info', dep.name, '--cflags']))
                ROSMAKE_ENV_VARIABLES['CXXFLAGS'].append(subprocess.checkoutput(['brew', 'env-info', dep.name, '--cxxflags']))
                ROSMAKE_ENV_VARIABLES['LDFLAGS'].append(subprocess.checkoutput(['brew', 'env-info', dep.name, '--ldflags']))

Then in the CMakeLists.txt they can use those CMAKE variables to call find() or run pkgconfig through cmake. Otherwise the env variables will make sure the library is found.

---

TinyXML installed via a brew tap, Keg only.

$ brew env-info tinyxml | xargs env rosmake

This will setup the environment to look in the Cellar for the keg only TinyXML.

Todo

Integrate brew env-info with rosmake/rosdep