Build as python package so we can test with colcon

Author: fcladera

mocha_core/CMakeLists.txt

@@ -28,7 +28,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES std_msgs geometry_msgs vision_msgs builtin_interfaces
 )
 
-# Install Python executables
+# Install Python package modules as library
+install(
+  DIRECTORY mocha_core/
+  DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.py"
+  PATTERN "__pycache__" EXCLUDE
+)
+
+# Install executables as scripts
 install(PROGRAMS
   mocha_core/integrate_database.py
   mocha_core/database_server.py
@@ -52,7 +60,7 @@ install(DIRECTORY config
 if(BUILD_TESTING)
   # find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
-  
+
   # the following line skips the linter which checks for copyrights
   # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
@@ -61,7 +69,7 @@ if(BUILD_TESTING)
   # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   # ament_lint_auto_find_test_dependencies()
-  
+
   # Add Python tests
   ament_add_pytest_test(test_database test/test_database.py)
   ament_add_pytest_test(test_database_utils test/test_database_utils.py)

mocha_core/mocha_core/database.py

@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
 import threading
-import hash_comm
+import mocha_core.hash_comm as hash_comm
 import rclpy.time
 import pdb
-import database_utils as du
+import mocha_core.database_utils as du
 import numpy as np
-import hash_comm
 import copy
 
 

mocha_core/mocha_core/database_server.py

@@ -6,9 +6,9 @@
 import rclpy.logging
 import rclpy.time
 import mocha_core.srv
-import database
+import mocha_core.database as database
 import pdb
-import database_utils as du
+import mocha_core.database_utils as du
 
 
 class DatabaseServer:

mocha_core/mocha_core/database_utils.py

@@ -1,8 +1,8 @@
 import struct
 import rclpy.time
 import rclpy.logging
-import database as db
-import hash_comm
+import mocha_core.database as db
+import mocha_core.hash_comm as hash_comm
 import io
 import pdb
 import importlib

mocha_core/mocha_core/integrate_database.py

@@ -14,9 +14,9 @@
 import std_msgs.msg
 import subprocess
 
-import database_server as ds
-import database_utils as du
-import synchronize_channel as sync
+import mocha_core.database_server as ds
+import mocha_core.database_utils as du
+import mocha_core.synchronize_channel as sync
 
 
 def ping(host):

mocha_core/mocha_core/synchronize_channel.py

@@ -4,10 +4,10 @@
 import threading
 import time
 import smach
-import database as db
-import database_utils as du
-import hash_comm as hc
-import zmq_comm_node
+import mocha_core.database as db
+import mocha_core.database_utils as du
+import mocha_core.hash_comm as hc
+import mocha_core.zmq_comm_node as zmq_comm_node
 import logging
 import rclpy
 import rclpy.logging

mocha_core/mocha_core/topic_publisher.py

@@ -10,6 +10,7 @@
 import yaml
 import re
 import mocha_core.msg
+import mocha_core.database_utils as du
 
 import mocha_core.srv
 
@@ -181,9 +182,7 @@ def create_topic_publisher_node(robot_name, robot_configs_path=None, topic_confi
         current_dir = os.path.dirname(os.path.abspath(__file__))
         ddb_path = os.path.join(current_dir, "..")
 
-    # Add path for database_utils
-    sys.path.append(os.path.join(ddb_path, "."))
-    import database_utils as du
+    # database_utils is imported at module level
 
     # Get the robot_config path and generate the robot_configs object
     if robot_configs_path is None:

mocha_core/mocha_core/translator.py

@@ -13,7 +13,7 @@ class Translator:
     def __init__(self, this_robot, this_robot_id,
                  topic_name, topic_id, msg_type, node=None):
         # Get the database utils module
-        import database_utils as du
+        import mocha_core.database_utils as du
         self.__du = du
 
         # Store or create the ROS2 node
@@ -115,9 +115,8 @@ def create_translator_node(robot_name, robot_configs_path=None, topic_configs_pa
         current_dir = os.path.dirname(os.path.abspath(__file__))
         ddb_path = os.path.join(current_dir, "..")
 
-    # Add path for database_utils
-    sys.path.append(os.path.join(ddb_path, "."))
-    import database_utils as du
+    # Import database_utils from installed package
+    import mocha_core.database_utils as du
 
     # Get the robot_config path and generate the robot_configs object
     if robot_configs_path is None:

mocha_core/mocha_core/zmq_comm_node.py

@@ -8,7 +8,7 @@
 import rclpy.time
 import rclpy.node
 import zmq
-import hash_comm
+import mocha_core.hash_comm as hash_comm
 import mocha_core.msg
 
 HASH_LENGTH = hash_comm.Hash.HASH_LENGTH

mocha_core/test/sample_db.py

@@ -9,9 +9,9 @@
 mocha_core_path = os.path.join(current_dir, "..", "mocha_core")
 sys.path.append(mocha_core_path)
 
-import hash_comm
-import database as db
-import database_utils as du
+import mocha_core.hash_comm as hash_comm
+import mocha_core.database as db
+import mocha_core.database_utils as du
 import pdb
 import rclpy.time