ROS Noetic via conda workspace setup

setup_script.py

#!/bin/env python
import argparse
from multiprocessing import Process
import contextlib
import os
import pathlib
from subprocess import run

import requests
import yaml


@contextlib.contextmanager
def working_directory(path):
    """Changes working directory and returns to previous on exit."""
    prev_cwd = pathlib.Path.cwd()
    os.chdir(path)
    try:
        yield
    finally:
        os.chdir(prev_cwd)


class CondaRunner:

    def __init__(self, conda_env_name):
        """ Just calling conda activate will not work inside the python script"""
        self.conda_env_name = conda_env_name
        init_commands = [
            'eval "$(conda shell.bash hook)"',
            'conda activate ' + self.conda_env_name,
        ]
        self.init_command = ';'.join(init_commands)

    def run(self, command):
        combined_command = self.init_command + '; ' + command
        print(combined_command)
        run(combined_command, shell=True)


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("ws_dir", type=pathlib.Path)
    parser.add_argument("conda_env_name")
    parser.add_argument("--no-create-conda-env", action='store_true')

    args = parser.parse_args()

    args.ws_dir.mkdir(exist_ok=True)

    with working_directory(args.ws_dir):
        src_dir = pathlib.Path('src')
        src_dir.mkdir(exist_ok=True)

        from time import perf_counter
        t0 = perf_counter()

        setup_conda_proc = Process(target=setup_conda, args=(args.no_create_conda_env, args.conda_env_name))
        setup_conda_proc.start()

        setup_workspace_proc = Process(target=setup_workspace, args=(src_dir,))
        setup_workspace_proc.start()

        setup_conda_proc.join()
        setup_workspace_proc.join()

        print('Setup Time:', perf_counter() - t0)

        # we need the conda environment to exist before we do this, so join here
        cr = CondaRunner(args.conda_env_name)
        with working_directory(src_dir):
            cr.run('catkin_init_workspace')
            cr.run('touch catkin_tools/CATKIN_IGNORE')
            build_catkin_tools(cr)
            build_non_catkin_deps(cr, args.conda_env_name)

        print('Total Time:', perf_counter() - t0)
        print("")
        print("Done!")
        print("You may now activate the conda environment and run catkin build")


def setup_conda(no_create_conda_env, conda_env_name):
    if not no_create_conda_env:
        create_conda_env(conda_env_name)


def setup_workspace(src_dir):
    with working_directory(src_dir):
        rosinstall_url = 'https://raw.githubusercontent.com/UM-ARM-Lab/documentation/master/rosinstalls/' \
                         'conda-ros-noetic/.rosinstall?token=AA6TGERCVJ6IDFZXZ3OQIY27ZPJGS'

        run(['wget', rosinstall_url, '-O', '.rosinstall'])
        run(['vcs', 'import', '--input', '.rosinstall'])


def build_catkin_tools(cr):
    with working_directory('catkin_tools'):
        cr.run('python setup.py install')


def build_non_catkin_deps(cr, conda_env_name):
    with working_directory('ignition-common3'):
        pathlib.Path("build").mkdir(exist_ok=True)
        with working_directory('build'):
            cr.run('cmake .. -DCMAKE_INSTALL_PREFIX=' + '~/miniconda3/envs/' + conda_env_name)
            cr.run('make -j8')
            cr.run('make install')


def create_conda_env(conda_env_name):
    # Load conda env yaml file
    env_yml_url = 'https://gist.githubusercontent.com/PeterMitrano/' \
                  'ac204903ebb6e22e190bf1088fb40e31/raw/conda-ros-noetic-env.yml'
    r = requests.get(env_yml_url, stream=True)
    env = yaml.load(r.raw, Loader=yaml.SafeLoader)
    # Change the name
    env['name'] = conda_env_name
    with open('env.yml', 'w') as env_file:
        yaml.dump(env, env_file)
    run(['conda', 'env', 'create', '-f', 'env.yml'])


if __name__ == '__main__':
    main()