xs
68 lines
2.7 KiB
Bash
68 lines
2.7 KiB
Bash
#!/usr/bin/env bash
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# =============================================================================
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# setup_venv.sh —— 在 Linux / macOS / WSL / Docker 容器内创建标准 Python venv,
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# 不污染系统 Python。
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#
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# 流程:
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# 1) python3 -m venv .venv —— 在项目根建一个 .venv 目录;
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# 2) source .venv/bin/activate —— 激活 venv,后续 pip/python 都走 venv;
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# 3) pip install -r requirements-dev.txt —— 装开发工具(ruff/black/mypy/pytest);
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# 4) pip install -e <每个 ROS2 Python 包> —— 把本项目 Python 包装到 venv (editable);
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# 5) 若 ROS2 客户端库已通过 apt 装(ros-humble-desktop),把 /opt/ros/humble/lib/python3.10/site-packages
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# 加进 PYTHONPATH,使 venv 里也能 import rclpy / sensor_msgs 等。
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#
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# 注意:Windows 没有 rclpy wheels,所以在 Windows 上跑这脚本只能装"开发工具 + numpy",
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# ROS2 节点必须在 Docker / WSL 内执行。
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# =============================================================================
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set -euo pipefail
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cd "$(dirname "$0")/.." # 切到项目根(脚本在 tools/)
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PYTHON="${PYTHON:-python3}"
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VENV_DIR=".venv"
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echo "==> Python: $($PYTHON --version) at $($PYTHON -c 'import sys; print(sys.executable)')"
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# 1) venv
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if [ ! -d "$VENV_DIR" ]; then
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echo "==> Creating venv at $VENV_DIR"
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$PYTHON -m venv "$VENV_DIR"
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else
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echo "==> Reusing existing venv at $VENV_DIR"
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fi
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# 2) 激活 venv(本 shell 子进程里)
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# shellcheck disable=SC1091
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source "$VENV_DIR/bin/activate"
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echo "==> venv Python: $(python --version) at $(which python)"
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# 3) 升级 pip + 装开发依赖
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echo "==> Upgrading pip + installing requirements-dev.txt"
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python -m pip install --upgrade pip wheel setuptools
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python -m pip install -r requirements-dev.txt
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# 4) pip install -e 把本项目 ROS2 Python 包装到 venv(可编辑模式)
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echo "==> Installing ROS2 Python packages (editable)"
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for pkg in py_pubsub py_srv py_action_demo py_vision_demo; do
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if [ -d "src/$pkg" ]; then
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python -m pip install -e "src/$pkg" --no-deps
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echo " OK $pkg"
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fi
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done
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# 5) 若 /opt/ros/humble 存在,自动把 site-packages 注入 venv
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ROS_PYTHON_SITE="/opt/ros/humble/lib/python3.10/site-packages"
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if [ -d "$ROS_PYTHON_SITE" ]; then
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echo "==> ROS2 detected at /opt/ros/humble. To import rclpy inside venv, run:"
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echo " export PYTHONPATH=\"$ROS_PYTHON_SITE:\${PYTHONPATH:-}\""
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echo " (this script does NOT mutate the system; do it manually when you need it)"
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fi
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echo
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echo "✅ venv ready. Activate with:"
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echo " source $VENV_DIR/bin/activate"
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echo
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echo "Next steps:"
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echo " pytest src/py_pubsub/test -m 'not ros' # 本机纯逻辑测试"
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echo " docker exec ros2_dev bash -lc 'cd /root/ros2_ws && colcon test' # 容器内 ROS2 测试" |