Script to build and install ROS Kinetic on Arch (for testing purposes)

rosbuild_pkgs.py

#! /usr/bin/env python2
# *-* encoding: utf-8 *-*
import rosdistro
import networkx as nx
import catkin_pkg.package
import subprocess
import glob
import os
import sys

if len(sys.argv) == 1:
    print("Usage: rosbuild_pkgs.py <ROS packages...>")
    print("e.g. rosbuild_pkgs.py desktop_full")
    print("To fetch from my arch test release repositories, set the environment variable:")
    print("  ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/gdlg-rosarch/rosdistro/master/index.yaml")
    sys.exit(1)

required_packages = sys.argv[1:]

def execute_command(cmd):
    print(" ".join(cmd))
    return subprocess.call(cmd)

FNULL = open(os.devnull, 'w')
def execute_command_quiet(cmd):
    return subprocess.call(cmd, stdout=FNULL)

print("Fetching distribution cache %s..." % rosdistro.get_index_url())

# Load the distribution cache for 'kinetic'
distribution_cache = rosdistro.get_distribution_cache(rosdistro.get_index(rosdistro.get_index_url()), "kinetic")

# Get the 'distribution.yaml' content from the cache
distribution = distribution_cache.distribution_file.get_data()

# Extract the list of repositories
repositories = distribution["repositories"]

print("Building dependency graph...")
# Build a mapping from ROS packages to release repositories
package_to_repo = {}

for (reponame,repo) in repositories.items():
    if "release" in repo:
        if "packages" in repo["release"]:
            for package in repo["release"]["packages"]:
                package_to_repo[package] = reponame
        else:
            package_to_repo[reponame] = reponame

# Build a graph of dependencies between ROS packages using the distribution cache
G = nx.DiGraph()
def get_deps(package):
    xml = distribution_cache.release_package_xmls.get(package, None)
    if xml is None:
        return []
    cpkg = catkin_pkg.package.parse_package_string(xml)
    return list(set([d.name for d in cpkg.build_depends]
         + [d.name for d in cpkg.build_export_depends]
         + [d.name for d in cpkg.buildtool_depends]
         + [d.name for d in cpkg.buildtool_export_depends]
         + [d.name for d in cpkg.doc_depends]
         + [d.name for d in cpkg.exec_depends]
         + [d.name for d in cpkg.test_depends]))

def add_deps(package):
    deps = get_deps(package)
    for d in deps:
        G.add_edge(d, package)

for reponame in repositories.keys():
    repo = repositories[reponame]
    if "release" in repo:
        if "packages" in repo["release"]:
            for package in repo["release"]["packages"]:
                add_deps(package)
        else:
            add_deps(reponame)

print("Searching for dependencies for packages %s..." % ", ".join(required_packages))
# Find all the dependencies for the packages that we want to install
# and sort them by topological order
dependencies = set()
def add_dep(n):
    dependencies.add(n)
    for d in G.predecessors(n):
        add_dep(d)

for pkg in required_packages:
    add_dep(pkg)

Gdep = G.subgraph(dependencies)

sortedPackages = nx.topological_sort(Gdep)

# Find and install all the prerequisites using pacaur
print("Finding prerequisites...")
import rosdep2.catkin_support
view = rosdep2.catkin_support.get_catkin_view('kinetic', 'arch', 'latest')
installer = rosdep2.catkin_support.get_installer("pacman")

prerequisites = set()
for package in sortedPackages:
    repo = package_to_repo.get(package,None)
    if repo is None:
        try:
            prerequisites.update(
                    rosdep2.catkin_support.resolve_for_os(package, view, installer, "arch", "latest"))
        except Exception as ex:
            print(ex)
            print("while processing prerequisite: %s" % package)

print("Found prerequisites: %s" % " ".join(prerequisites))

execute_command(["pacaur", "-S", "--needed", "--asdeps"]+list(prerequisites))

# Build and install all needed ROS packages
cwd = os.getcwd()
print("Building and installing ROS packages ...")
for package in sortedPackages:
    reponame = package_to_repo.get(package,None)
    if reponame is None:
        continue

    os.chdir(cwd)

    repo = repositories[reponame]
    repourl = repo['release']['url']
    print("Package %s..." % package)
    repogit = repourl.split('/')[-1].split('.')[-2]

    # Don’t fetch the repository if it already exist.
    # TODO: Update the repository if it already exist
    if not os.path.exists(package):
        execute_command(["git","clone",repourl,package])
    os.chdir(package)

    try:
        # Don’t build the package if it already exist
        # TODO: Check for precise version and rebuild if an older version is found.
        pacman_file = max(glob.iglob('*.tar.xz'), key=os.path.getctime)
    except:
        # Checkout the latest PKGBUILD
        execute_command(["git", "checkout", "arch/kinetic/latest/"+package])

        # Build the package
        execute_command(["makepkg", "-f"])
        pacman_file = max(glob.iglob('*.tar.xz'), key=os.path.getctime)

    # Install the package if it hasn’t been already installed.
    if execute_command_quiet(["package-query","-Q", "ros-kinetic-%s" % package.replace('_','-')]) == 1:
        execute_command(["sudo","pacman","-U","--noconfirm",pacman_file])
    else:
        print("  Skipping because the package is already installed")