Use ament_python to build packages rather than ament_cmake

rosapi/package.xml

@@ -17,7 +17,7 @@
   <maintainer email="[email protected]">Jihoon Lee</maintainer>
   <maintainer email="[email protected]">Foxglove</maintainer>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_python</buildtool_depend>
 
   <exec_depend>rosapi_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
@@ -41,7 +41,7 @@
   <test_depend>rmw_dds_common</test_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
     <ros1_bridge mapping_rules="mapping_rules.yaml"/>
   </export>
 </package>

rosapi/src/rosapi/objectutils.py → rosapi/rosapi/objectutils.py

@@ -35,9 +35,10 @@
 import logging
 import re
 
-from rosapi.stringify_field_types import stringify_field_types
 from rosbridge_library.internal import ros_loader
 
+from rosapi.stringify_field_types import stringify_field_types
+
 # Keep track of atomic types and special types
 atomics = [
     "bool",

rosapi/src/rosapi/params.py → rosapi/rosapi/params.py

@@ -40,6 +40,7 @@
 from rclpy.parameter import get_parameter_value
 from ros2node.api import get_absolute_node_name
 from ros2param.api import call_get_parameters, call_set_parameters
+
 from rosapi.proxy import get_nodes
 
 """ Methods to interact with the param server.  Values have to be passed

rosapi/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rosapi
+[install]
+install_scripts=$base/lib/rosapi

rosapi/setup.py

@@ -0,0 +1,29 @@
+import os
+
+from setuptools import find_packages, setup
+
+package_name = "rosapi"
+
+setup(
+    name=package_name,
+    version="1.3.2",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        # Install marker file in the package index
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        # Include our package.xml file
+        (os.path.join("share", package_name), ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    author="Jonathan Mace",
+    author_email="[email protected]",
+    maintainer="Jihoon Lee, Foxglove",
+    maintainer_email="[email protected], [email protected]",
+    description="Provides service calls for getting ros meta-information, like list of topics, services, params, etc.",
+    license="BSD",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": ["rosapi_node = rosapi.rosapi_node:main"],
+    },
+)

rosapi/test/test_stringify_field_types.py

@@ -1,9 +1,10 @@
 #!/usr/bin/env python
 import unittest
 
-from rosapi.stringify_field_types import stringify_field_types
 from rosbridge_library.internal.ros_loader import InvalidModuleException
 
+from rosapi.stringify_field_types import stringify_field_types
+
 
 class TestObjectUtils(unittest.TestCase):
     def test_stringify_field_types(self):

rosbridge_server/package.xml

@@ -14,8 +14,7 @@
   <maintainer email="[email protected]">Jihoon Lee</maintainer>
   <maintainer email="[email protected]">Foxglove</maintainer>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_python</buildtool_depend>
 
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>python3-twisted</exec_depend>
@@ -34,6 +33,6 @@
   <test_depend>std_srvs</test_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

rosbridge_server/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rosbridge_server
+[install]
+install_scripts=$base/lib/rosbridge_server

rosbridge_server/setup.py

@@ -0,0 +1,35 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = "rosbridge_server"
+
+setup(
+    name=package_name,
+    version="1.3.2",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        # Install marker file in the package index
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        # Include our package.xml file
+        (os.path.join("share", package_name), ["package.xml"]),
+        # Include all launch files.
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*launch.[pxy][yma]*")),
+        ),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    author="Jonathan Mace",
+    author_email="[email protected]",
+    maintainer="Jihoon Lee, Foxglove",
+    maintainer_email="[email protected], [email protected]",
+    description="A WebSocket interface to rosbridge.",
+    license="BSD",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": ["rosbridge_websocket = rosbridge_server.rosbridge_websocket:main"],
+    },
+)