An extension for colcon-core that adds support for Python
packages that use Poetry within ROS. This extension is a replacement
for Colcon's built-in setup.cfg based Python support and the Python-related
bits in colcon-ros.
We use this extension with Foxy and Humble, but other versions should work as well. Please create an issue if you see problems!
Start by install this extension with Pip:
pip3 install colcon-poetry-rosThen, add a pyproject.toml in the root of your package's directory. Each
package should have its own pyproject.toml file. It should look something
like this:
[tool.poetry]
name = "my_package"
version = "0.1.0"
description = "Does something cool"
authors = ["John Smith <[email protected]>"]
license = "BSD-3-Clause"
[tool.poetry.dependencies]
python = "^3.8"
[tool.poetry.scripts]
node_a = "my_package.node_a:main"
node_b = "my_package.node_b:main"
[tool.colcon-poetry-ros.data-files]
"share/ament_index/resource_index/packages" = ["resource/my_package"]
"share/my_package" = ["package.xml"]
[build-system]
requires = ["poetry-core>=1.0.0"]
build-backend = "poetry.core.masonry.api"Finally, run your build like normal:
colcon buildThis extension currently supports projects based on PyTest. Run the following command to start tests:
colcon testIf you want to be able to run your nodes using ros2 run, add your node's
entrypoint to the tool.poetry.scripts table. See
Poetry's documentation for details.
[tool.poetry.scripts]
node_a = "my_package.node_a:main"
node_b = "my_package.node_b:main"Poetry has only limited support for including data files in an installation,
and the current implementation is not flexible enough to be used with ROS.
Instead, this extension consults a custom section in your pyproject.toml,
called tool.colcon-poetry-ros.data-files.
The format is intended to be mostly identical to the data_files field used
by setuptools. The main differences are that copying
entire directories is supported, and globbing is not yet implemented.
All ROS packages must have, at minimum, these entries in the
tool.colcon-poetry-ros.data-files section (with {package_name} replaced
with the name of your package):
[tool.colcon-poetry-ros.data-files]
"share/ament_index/resource_index/packages" = ["resource/{package_name}"]
"share/{package_name}" = ["package.xml"]These entries take care of adding the package index marker and package.xml
file to the installation.
Poetry dependencies are not installed as part of the build process, but they can be installed using a separate tool that's included in this package.
python3 -m colcon_poetry_ros.dependencies.install --base-paths <path to your nodes>This command installs each package's dependencies to Colcon's base install directory. This means that your dependencies live alongside your package's code after it's built, isolated from the rest of your system.
If you customize colcon build with the --install-base or --merge-install
flags, make sure to provide those to this tool as well.
Colcon can be given information on dependencies between packages, which
affects build order and can be displayed in tools like colcon graph. These
dependencies can be explicitly defined in the pyproject.toml under a custom
section called tool.colcon-poetry-ros.dependencies.
[tool.colcon-poetry-ros.dependencies]
depend = ["foo_package"] # This will add to both `build_depend` and `exec_depend` following `package.xml` standards
build_depend = ["bar_package"]
exec_depend = ["baz_package"]
test_depend = ["qux_package"]
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