use usercustomize.py in .local/lib/python*/site-packages to set custo…

…m sys.path for both python2 and python3
jsk-ros-pkg · Oct 15, 2023 · 2d6302a · 2d6302a
1 parent fd322d7
commit 2d6302a
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Showing 5 changed files with 21 additions and 3 deletions.
diff --git a/jsk_unitree_robot/cross/build_ros1.sh b/jsk_unitree_robot/cross/build_ros1.sh
@@ -56,6 +56,8 @@ docker run -it --rm \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:rw \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/${SOURCE_ROOT}:rw \
   ${IMAGE_NAME}:${TARGET_MACHINE} \
@@ -74,4 +76,7 @@ docker run -it --rm \
         -DEUSLISP_WITHOUT_DISPLAY=TRUE -DDISABLE_DOCUMENTATION=1 \
     " 2>&1 | tee ${TARGET_MACHINE}_build_ros1.log
 
-cp ${PWD}/startup_scripts/system_setup.bash ${HOST_INSTALL_ROOT}/
+for file in system_setup.bash usercustomize.py; do
+    [ -d ${HOST_INSTALL_ROOT}/$file ] && rmdir ${HOST_INSTALL_ROOT}/$file
+    cp ${PWD}/startup_scripts/$file ${HOST_INSTALL_ROOT}/
+done
diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
@@ -51,6 +51,8 @@ docker run -it --rm \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
   -v ${PWD}/rosinstall_generator_unreleased.py:/home/user/rosinstall_generator_unreleased.py:ro \
   ${IMAGE_NAME}:${TARGET_MACHINE} \

diff --git a/jsk_unitree_robot/cross/install.sh b/jsk_unitree_robot/cross/install.sh
@@ -66,6 +66,12 @@ function copy_data () {
     ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "${hostname}" || echo "OK"
     sshpass -p $PASS ssh -o StrictHostKeyChecking=no ${user}@${hostname} exit
 
+    if [[ "${TARGET_DIRECTORY}" == "System" ]]; then
+        sshpass -p 123 scp ${TARGET_MACHINE}_${TARGET_DIRECTORY}/usercustomize.py ${user}@${hostname}:/tmp/usercustomize.py
+        sshpass -p $PASS ssh -t ${user}@${hostname} "mkdir -p ~/.local/lib/python2.7/site-packages/; cp -f /tmp/usercustomize.py .local/lib/python2.7/site-packages/"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "mkdir -p ~/.local/lib/python3.6/site-packages/; cp -f /tmp/usercustomize.py .local/lib/python3.6/site-packages/"
+    fi
+
     # cehck disk space
     echo "Copy ${TARGET_MACHINE}_${TARGET_DIRECTORY} ...."
     echo "==="

diff --git a/jsk_unitree_robot/cross/run_user.sh b/jsk_unitree_robot/cross/run_user.sh
@@ -18,6 +18,8 @@ docker run -it --rm \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
+  -v ${HOST_INSTALL_ROOT}/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${HOST_INSTALL_ROOT}/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
   ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "echo 'source /opt/jsk/User/user_setup.bash; env; cd /opt/jsk/User' > ~/.bashrc; exec \"\$0\""

diff --git a/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash b/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash
@@ -5,14 +5,17 @@
 export CMAKE_PREFIX_PATH="/opt/jsk/System/ros1_dependencies:${CMAKE_PREFIX_PATH}"
 export PKG_CONFIG_PATH="/opt/jsk/System/ros1_dependencies/lib/pkgconfig:${PKG_CONFIG_PATH}"
 export LD_LIBRARY_PATH="/opt/jsk/System/ros1_dependencies/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
+export PATH="/opt/jsk/System/ros1_dependencies/bin:${PATH}"
+# Python's sys.path is automatically set in ~/.local/lib/python2.7/usercustomize.py
+# export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
 
 # GI : for gir1.2-gstreamer-1.0, which is installed by ros1_dependencies_build_scripts/0006-gstreamer
 export GI_TYPELIB_PATH="/opt/jsk/System/ros1_dependencies/lib/girepository-1.0"
 
 # Python
 export LD_LIBRARY_PATH="/opt/jsk/System/Python/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
+# Python's sys.path is automatically set in ~/.local/lib/python2.7/usercustomize.py
+# export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
 export PATH="/opt/jsk/System/Python/bin:${PATH}"