xs
71 lines
2.9 KiB
PowerShell
71 lines
2.9 KiB
PowerShell
# =============================================================================
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# setup_venv.ps1 —— 在 Windows 上创建标准 Python venv,不污染系统 Python。
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#
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# 重要前提:
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# - Windows 上 rclpy / sensor_msgs / cv_bridge 没有官方 pip wheels,
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# 所以 venv 里 *只能装纯 Python 工具*(ruff / black / mypy / pytest / numpy)。
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# - 真正的 ROS2 节点必须在 Docker Desktop 容器内 / WSL Ubuntu 内运行。
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# - 本机用 VSCode / PyCharm 等 IDE 时,把 interpreter 指向 .venv\Scripts\python.exe
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# 即可享受自动补全 / 类型检查,即使 rclpy 解析不了也没关系
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# (pyrightconfig.json 已配置 ignore_missing_imports)。
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#
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# 使用:
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# PS> .\tools\setup_venv.ps1
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# PS> .\.venv\Scripts\Activate.ps1
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# =============================================================================
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$ErrorActionPreference = 'Stop'
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# 切到脚本所在目录的上一级(项目根)
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Set-Location -LiteralPath (Join-Path $PSScriptRoot '..')
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# 优先 python,找不到再 python3
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$PYTHON = $null
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foreach ($cand in @('python', 'python3', 'py')) {
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$cmd = Get-Command $cand -ErrorAction SilentlyContinue
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if ($cmd) { $PYTHON = $cand; break }
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}
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if (-not $PYTHON) {
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throw 'Python not found in PATH. Install Python 3.10+ from python.org first.'
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}
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Write-Host "==> Using: $PYTHON" -ForegroundColor Cyan
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& $PYTHON --version
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$VENV_DIR = '.venv'
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# 1) 创建 venv(若已存在则提示并复用)
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if (-not (Test-Path -LiteralPath $VENV_DIR)) {
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Write-Host "==> Creating venv at $VENV_DIR" -ForegroundColor Cyan
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& $PYTHON -m venv $VENV_DIR
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} else {
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Write-Host "==> Reusing existing venv at $VENV_DIR" -ForegroundColor Yellow
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}
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$venvPython = Join-Path $VENV_DIR 'Scripts\python.exe'
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if (-not (Test-Path -LiteralPath $venvPython)) {
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throw "venv python.exe not found at $venvPython"
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}
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# 2) 升级 pip + 装开发依赖
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Write-Host "==> Upgrading pip + installing requirements-dev.txt" -ForegroundColor Cyan
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& $venvPython -m pip install --upgrade pip wheel setuptools
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& $venvPython -m pip install -r requirements-dev.txt
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# 3) pip install -e 把本项目 ROS2 Python 包装到 venv(纯 Python 部分,不动 ROS 客户端)
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Write-Host "==> Installing ROS2 Python packages (editable)" -ForegroundColor Cyan
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foreach ($pkg in @('py_pubsub','py_srv','py_action_demo','py_vision_demo')) {
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$pkgDir = Join-Path 'src' $pkg
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if (Test-Path -LiteralPath $pkgDir) {
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& $venvPython -m pip install -e $pkgDir --no-deps
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Write-Host " OK $pkg" -ForegroundColor Green
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}
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}
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Write-Host ''
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Write-Host 'venv ready. Activate with:' -ForegroundColor Green
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Write-Host ' .\.venv\Scripts\Activate.ps1' -ForegroundColor Green
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Write-Host ''
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Write-Host 'Next steps (Windows):' -ForegroundColor Yellow
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Write-Host ' pytest src/py_pubsub/test -m "not ros" # 本机纯逻辑测试'
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Write-Host ' docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon test" # 容器内 ROS2 测试' |