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Modernize python #3

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7d20726
Bump minimum cmake version to 3.16
rhaschke Aug 22, 2025
9d67e3a
Update find_package(PythonInterp)
rhaschke Aug 22, 2025
9dcb56b
Fix deprecated install procedure
rhaschke Sep 12, 2025
b346f72
Add pip dependency
rhaschke Oct 22, 2025
c3c4ecb
Enforcing PEP 517
rhaschke Oct 22, 2025
05bbc30
Drop definition of CATKIN_BINARY_DIR
rhaschke Oct 22, 2025
88826a0
Avoid empty build/ folders in each pip project
v4hn Dec 7, 2025
5c2937b
conflict with alternative setup_files approach
v4hn Dec 12, 2025
ea2ec2e
fix --root "" infers local directory
v4hn Dec 14, 2025
378fc34
setuptools creates local egg-info folders
v4hn Dec 14, 2025
c771600
`build` seems to support build-option already in setuptools 66
v4hn Dec 14, 2025
2861704
Drop setup_files from package.xml
rhaschke Jul 15, 2026
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)

@roehling roehling Oct 22, 2025

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I assume you picked 3.16 because of Ubuntu 20.04. Do we intend to support Focal past its EOL? More generally, do we have (or should we have) a policy for minimum version requirements for ROS-O?

@v4hn v4hn Oct 22, 2025

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No, there is no minimum OS version because there are no fixed target distributions, but if we can avoid breakage without consequences it makes sense to keep compatibility.
There is also no single branch for "ROS-O" and while compatibility is important, there is no problem to change branches in the individual builders for target platforms.

The question then is whether any "obese-devel"/"ros1" etc branches should move forward with breaking changes or whether we simply add more branches ("occult-devel" suggests itself ;)).


set(catkin_EXTRAS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

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4 changes: 2 additions & 2 deletions cmake/all.cmake
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Expand Up @@ -34,7 +34,7 @@ if(EXISTS ${_catkin_marker_file})
endif()
else()
# create a new develspace marker file
# NOTE: extra care must be taken when running multiple catkin jobs in parallel
# NOTE: extra care must be taken when running multiple catkin jobs in parallel
# so that this does not overwrite the result of a similar call in another package
file(WRITE ${_catkin_marker_file} "${CMAKE_SOURCE_DIR}")
endif()
Expand Down Expand Up @@ -120,7 +120,7 @@ endif()
include(CMakeParseArguments)

# functions/macros: list_append_unique, safe_execute_process
# python-integration: catkin_python_setup.cmake, interrogate_setup_dot_py.py, templates/__init__.py.in, templates/script.py.in, templates/python_distutils_install.bat.in, templates/python_distutils_install.sh.in, templates/safe_execute_install.cmake.in
# python-integration: catkin_python_setup.cmake, interrogate_setup_dot_py.py, templates/__init__.py.in, templates/script.py.in, templates/python_install.bat.in, templates/python_install.sh.in, templates/safe_execute_install.cmake.in
foreach(filename
assert
atomic_configure_file
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8 changes: 4 additions & 4 deletions cmake/catkin_python_setup.cmake
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Expand Up @@ -151,16 +151,16 @@ function(catkin_python_setup)
set(INSTALL_CMD_WORKING_DIRECTORY ${${PROJECT_NAME}_SOURCE_DIR})
if(NOT WIN32)
set(INSTALL_SCRIPT
${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_distutils_install.sh)
configure_file(${catkin_EXTRAS_DIR}/templates/python_distutils_install.sh.in
${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_install.sh)
configure_file(${catkin_EXTRAS_DIR}/templates/python_install.sh.in
${INSTALL_SCRIPT}
@ONLY)
else()
# need to convert install prefix to native path for python setuptools --prefix (its fussy about \'s)
file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX} PYTHON_INSTALL_PREFIX)
set(INSTALL_SCRIPT
${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_distutils_install.bat)
configure_file(${catkin_EXTRAS_DIR}/templates/python_distutils_install.bat.in
${CMAKE_CURRENT_BINARY_DIR}/catkin_generated/python_install.bat)
configure_file(${catkin_EXTRAS_DIR}/templates/python_install.bat.in
${INSTALL_SCRIPT}
@ONLY)
endif()
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17 changes: 11 additions & 6 deletions cmake/python.cmake
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@@ -1,11 +1,16 @@
# the CMake variable PYTHON_INSTALL_DIR has the same value as the Python function catkin.builder.get_python_install_dir()

set(PYTHON_VERSION "$ENV{ROS_PYTHON_VERSION}" CACHE STRING "Specify specific Python version to use ('major.minor' or 'major')")
find_package(PythonInterp ${PYTHON_VERSION} REQUIRED)
find_package(Python ${PYTHON_VERSION} COMPONENTS Interpreter REQUIRED)

message(STATUS "Using PYTHON_EXECUTABLE: ${PYTHON_EXECUTABLE}")
# Set variables for compatibility with old find_package(PythonInterp)
set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
set(PYTHON_VERSION_STRING ${Python_VERSION})
set(PYTHON_VERSION_MAJOR ${Python_VERSION_MAJOR})
set(PYTHON_VERSION_MINOR ${Python_VERSION_MINOR})
message(STATUS "Using Python_EXECUTABLE: ${Python_EXECUTABLE}")

set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
set(_PYTHON_PATH_VERSION_SUFFIX "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")

set(enable_setuptools_deb_layout OFF)
if(EXISTS "/etc/debian_version")
Expand All @@ -16,10 +21,10 @@ option(SETUPTOOLS_DEB_LAYOUT "Enable debian style python package layout" ${enabl
if(SETUPTOOLS_DEB_LAYOUT)
message(STATUS "Using Debian Python package layout")
set(PYTHON_PACKAGES_DIR dist-packages)
set(SETUPTOOLS_ARG_EXTRA "--install-layout=deb")
set(PIP_EXTRA_ENV "DEB_PYTHON_INSTALL_LAYOUT=deb")
# use major version only when installing 3.x with debian layout
if("${PYTHON_VERSION_MAJOR}" STREQUAL "3")
set(_PYTHON_PATH_VERSION_SUFFIX "${PYTHON_VERSION_MAJOR}")
if("${Python_VERSION_MAJOR}" STREQUAL "3")
set(_PYTHON_PATH_VERSION_SUFFIX "${Python_VERSION_MAJOR}")
endif()
else()
message(STATUS "Using default Python package layout")
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10 changes: 2 additions & 8 deletions ...templates/python_distutils_install.bat.in → cmake/templates/python_install.bat.in
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Expand Up @@ -12,16 +12,10 @@ if NOT EXIST "@SETUPTOOLS_INSTALL_PREFIX@\@PYTHON_INSTALL_DIR@\" (
)

set "PYTHONPATH=@SETUPTOOLS_INSTALL_PREFIX@\@PYTHON_INSTALL_DIR@;@CMAKE_BINARY_DIR@\@PYTHON_INSTALL_DIR@"
set "CATKIN_BINARY_DIR=@CMAKE_BINARY_DIR@"
for /f "usebackq tokens=*" %%a in ('@SETUPTOOLS_INSTALL_PREFIX@') do (
set _SETUPTOOLS_INSTALL_PATH=%%~pna
set _SETUPTOOLS_INSTALL_ROOT=%%~da
)

"@PYTHON_EXECUTABLE@" ^
"@CMAKE_CURRENT_SOURCE_DIR@\setup.py" ^
build --build-base "@CMAKE_CURRENT_BINARY_DIR@" ^
install %DESTDIR_ARG% @SETUPTOOLS_ARG_EXTRA@ ^
--prefix="%_SETUPTOOLS_INSTALL_PATH%" ^
--install-scripts="%_SETUPTOOLS_INSTALL_PATH%\@CATKIN_GLOBAL_BIN_DESTINATION@" ^
--root=%_SETUPTOOLS_INSTALL_ROOT%\
"@PYTHON_EXECUTABLE@" -m pip install --ignore-installed --no-deps --use-pep517 --no-build-isolation --prefix "%_SETUPTOOLS_INSTALL_PATH%" ^
"@CMAKE_CURRENT_SOURCE_DIR@"
15 changes: 7 additions & 8 deletions .../templates/python_distutils_install.sh.in → cmake/templates/python_install.sh.in
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Expand Up @@ -22,12 +22,11 @@ echo_and_run mkdir -p "$DESTDIR@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@"
# into one location when some dependencies were installed in another
# location, #123.
echo_and_run /usr/bin/env \
@PIP_EXTRA_ENV@ \
PIP_BREAK_SYSTEM_PACKAGES=1 \
PYTHONPATH="@CMAKE_INSTALL_PREFIX@/@PYTHON_INSTALL_DIR@:@CMAKE_BINARY_DIR@/@PYTHON_INSTALL_DIR@:$PYTHONPATH" \
CATKIN_BINARY_DIR="@CMAKE_BINARY_DIR@" \
"@PYTHON_EXECUTABLE@" \
"@CMAKE_CURRENT_SOURCE_DIR@/setup.py" \
@SETUPTOOLS_EGG_INFO@ \
build --build-base "@CMAKE_CURRENT_BINARY_DIR@" \
install \
--root="${DESTDIR-/}" \
@SETUPTOOLS_ARG_EXTRA@ --prefix="@CMAKE_INSTALL_PREFIX@" --install-scripts="@CMAKE_INSTALL_PREFIX@/@CATKIN_GLOBAL_BIN_DESTINATION@"
"@PYTHON_EXECUTABLE@" -m pip install --prefix "@CMAKE_INSTALL_PREFIX@" --ignore-installed --no-deps --use-pep517 --no-build-isolation \
"@CMAKE_CURRENT_SOURCE_DIR@"
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# Remove *.egg-info directories created by pip/setuptools
echo_and_run find -L "@CMAKE_CURRENT_SOURCE_DIR@" -name "*.egg-info" -print -exec rm -r {} +
2 changes: 1 addition & 1 deletion cmake/toplevel.cmake
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@@ -1,7 +1,7 @@
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)

project(Project)

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2 changes: 1 addition & 1 deletion doc/adv_user_guide/catkin_migration.rst
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Expand Up @@ -75,7 +75,7 @@ The contents of the /stick/stick/package.xml must look like this::

The contents of the /stick/stick/CMakeLists.txt looks like this::

cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)
project(stick)
find_package(catkin REQUIRED)
catkin_metapackage()
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2 changes: 1 addition & 1 deletion doc/howto/format1/catkin_overview.rst
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Expand Up @@ -84,7 +84,7 @@ CMakeLists.txt
Catkin ``CMakeLists.txt`` files mostly contain ordinary CMake
commands, plus a few catkin-specific ones. They begin like this::

cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)
project(your_package)

Substitute the actual name of your package in the ``project()``
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2 changes: 1 addition & 1 deletion doc/howto/format2/catkin_overview.rst
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Expand Up @@ -85,7 +85,7 @@ CMakeLists.txt
Catkin ``CMakeLists.txt`` files mostly contain ordinary CMake
commands, plus a few catkin-specific ones. They begin like this::

cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)
project(your_package)

Substitute the actual name of your package in the ``project()``
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2 changes: 1 addition & 1 deletion doc/user_guide/standards.rst
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Expand Up @@ -13,7 +13,7 @@ For inspiration, look at the guideline examples here:

The following lines must always appear the CMakeLists.txt in this order::

cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)
project(myproject)
find_package(catkin REQUIRED <COMPONENTS ...>)
catkin_package(<...>)
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4 changes: 4 additions & 0 deletions package.xml
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Expand Up @@ -30,9 +30,13 @@
<buildtool_depend>cmake</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-pip</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-pip</buildtool_depend>

<buildtool_export_depend>cmake</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 2">python-pip</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-pip</buildtool_export_depend>

<build_export_depend>google-mock</build_export_depend>
<build_export_depend>gtest</build_export_depend>
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2 changes: 1 addition & 1 deletion test/mock_resources/src-fail/badly_specified_changelog/CMakeLists.txt
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@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)

project(badly_specified_changelog)
find_package(catkin)
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3 changes: 1 addition & 2 deletions test/mock_resources/src-fail/noproject/CMakeLists.txt
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@@ -1,7 +1,6 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.16)
# commented to cause failure
# project(noproject)
find_package(catkin)

catkin_package()