Create package whitelist from package.xml

The prior mechanism to generate an ignore/include list was to
use a static file at the workspace root. This doesn't play very
well with our build system so instead use package.xml. Any
<build_depend> package will now be included in the ros1_bridge
build.

This is done using a simple python script to parse package.xml
which is then called by cmake (stdout of the script is the list).
We then feed that list into a modified filter_packages() function
that takes a list of include/ignore packages rather than using
the static list.

CMakeLists.txt

@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 3.5)
 
 project(ros1_bridge)
 
+execute_process(
+  COMMAND python3 bin/ros1_bridge_generate_package_list
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  OUTPUT_VARIABLE pkg_include_list
+)
+
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -56,7 +62,10 @@ find_package(xmlrpcpp REQUIRED)
 # find ROS 1 packages with messages / services
 include(cmake/find_ros1_interface_packages.cmake)
 find_ros1_interface_packages(ros1_message_packages)
-filter_packages("ros1_message_packages")
+filter_packages(
+  PKG_LIST "ros1_message_packages"
+  INCLUDE_PKGS ${pkg_include_list}
+)
 
 set(prefixed_ros1_message_packages "")
 foreach(ros1_message_package ${ros1_message_packages})
@@ -141,7 +150,10 @@ list(APPEND generated_files "${generated_path}/get_mappings.cpp")
 
 # generate per interface compilation units to keep the memory usage low
 ament_index_get_resources(ros2_interface_packages "rosidl_interfaces")
-filter_packages("ros2_interface_packages")
+filter_packages(
+  PKG_LIST "ros2_interface_packages"
+  INCLUDE_PKGS ${pkg_include_list}
+)
 
 # actionlib_msgs is deprecated, but we will quiet the warning until the bridge has support for
 # ROS actions: https://github.com/ros2/design/issues/195
@@ -170,6 +182,7 @@ endforeach()
 
 set(target_dependencies
   "bin/ros1_bridge_generate_factories"
+  "bin/ros1_bridge_generate_package_list"
   "resource/get_factory.cpp.em"
   "resource/get_mappings.cpp.em"
   "resource/interface_factories.cpp.em"
@@ -184,7 +197,7 @@ add_custom_command(
   COMMAND Python3::Interpreter
   ARGS bin/ros1_bridge_generate_factories
     --output-path "${generated_path}" --template-dir resource
-    --pkg-includes '${BRIDGE_INCLUDE_PKGS}'
+    --pkg-includes '${pkg_include_list}'
     --pkg-ignores '${BRIDGE_IGNORE_PKGS}'
   DEPENDS ${target_dependencies}
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}

bin/ros1_bridge_generate_package_list

@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+
+import sys
+from catkin_pkg.package import parse_package
+
+def main(argv=sys.argv[1:]):
+    pkg = parse_package("package.xml")
+    packages = []
+
+    for depend in pkg["build_depends"]:
+        packages.append(depend.name)
+
+    print(';'.join(packages), end='')
+
+if __name__ == '__main__':
+    sys.exit(main())

cmake/find_ignore_include_lists.cmake

@@ -1,55 +1,12 @@
-# Module/Package resp. message ignores and includes 
-#
-# Finds lists of ROS modules/packages resp. messages that shall
-# be included resp. ignored by the ROS bridge according to the
-# following rules:
-# - Include lists over ignore lists. I.e. if an include list is
-#   present, the ignore list will be ... well, ignored.)
+function(filter_packages)
+  set(options "")
+  set(oneValueArgs PKG_LIST)
+  set(multiValueArgs INCLUDE_PKGS IGNORE_PKGS)
 
-set(USE_PKG_IGNORE OFF)
-set(USE_PKG_INCLUDE OFF)
-set(USE_MSG_IGNORE OFF)
-set(USE_MSG_INCLUDE OFF)
+  cmake_parse_arguments(BRIDGE "${options}"
+                        "${oneValueArgs}" "${multiValueArgs}" "${ARGN}")
 
-set(BRIDGE_IGNORE_PKGS "")
-set(BRIDGE_IGNORE_MSGS "")
-set(BRIDGE_INCLUDE_PKGS "")
-set(BRIDGE_INCLUDE_MSGS "")
-
-# File with packages to ignore/include in ROS 1 Bridge
-set(BRIDGE_PACKAGE_IGNORE "${CMAKE_SOURCE_DIR}/../../../BridgePackageIgnore.List")
-set(BRIDGE_PACKAGE_INCLUDE "${CMAKE_SOURCE_DIR}/../../../BridgePackageInclude.List")
-
-# File with messages to ignore/include in ROS 1 Bridge
-set(BRIDGE_MSG_IGNORE "${CMAKE_SOURCE_DIR}/../../../BridgePackageIgnore.List")
-set(BRIDGE_MSG_INCLUDE "${CMAKE_SOURCE_DIR}/../../../BridgePackageInclude.List")
-
-if(EXISTS "${BRIDGE_PACKAGE_INCLUDE}")
-  set(USE_PKG_INCLUDE ON)
-else() # EXISTS "${BRIDGE_PACKAGE_INCLUDE}"
-  if(EXISTS "${BRIDGE_PACKAGE_IGNORE}")
-    set(USE_PKG_IGNORE ON)
-  endif() # EXISTS "${BRIDGE_PACKAGE_IGNORE}"
-endif() # EXISTS "${BRIDGE_PACKAGE_INCLUDE}"
-
-if(${USE_PKG_INCLUDE})
-  FILE(READ "${BRIDGE_PACKAGE_INCLUDE}" BRIDGE_INCLUDE_PKGS)
-  STRING(REGEX REPLACE ";" "\\\\;" BRIDGE_INCLUDE_PKGS "${BRIDGE_INCLUDE_PKGS}")
-  STRING(REGEX REPLACE "\n" ";" BRIDGE_INCLUDE_PKGS "${BRIDGE_INCLUDE_PKGS}")
-  list(REMOVE_DUPLICATES BRIDGE_INCLUDE_PKGS)
-  message(STATUS "Found package include list, including: ${BRIDGE_INCLUDE_PKGS}")
-endif() # USE_PKG_INCLUDE
-
-if(${USE_PKG_IGNORE})
-  FILE(READ "${BRIDGE_PACKAGE_IGNORE}" BRIDGE_IGNORE_PKGS)
-  STRING(REGEX REPLACE ";" "\\\\;" BRIDGE_IGNORE_PKGS "${BRIDGE_IGNORE_PKGS}")
-  STRING(REGEX REPLACE "\n" ";" BRIDGE_IGNORE_PKGS "${BRIDGE_IGNORE_PKGS}")
-  list(REMOVE_DUPLICATES BRIDGE_IGNORE_PKGS)
-  message(STATUS "Found package ignore list, ignoring: ${BRIDGE_IGNORE_PKGS}")
-endif() # USE_PKG_IGNORE
-
-function(filter_packages pkg_list)
-  set(ros2_packages ${${pkg_list}})
+  set(ros2_packages ${${BRIDGE_PKG_LIST}})
   if(BRIDGE_INCLUDE_PKGS)
     foreach(pkg ${ros2_packages})
       if(NOT ${pkg} IN_LIST BRIDGE_INCLUDE_PKGS)
@@ -63,6 +20,6 @@ function(filter_packages pkg_list)
       endif(${pkg} IN_LIST BRIDGE_IGNORE_PKGS)
     endforeach()
   endif(BRIDGE_INCLUDE_PKGS)
-  
-  set(${pkg_list} "${ros2_packages}" PARENT_SCOPE)
+
+  set(${BRIDGE_PKG_LIST} "${ros2_packages}" PARENT_SCOPE)
 endfunction(filter_packages ros2_packages)

package.xml

@@ -34,6 +34,7 @@
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>xmlrpcpp</build_depend>
+  <build_depend>geometry_msgs</build_depend>
 
   <buildtool_export_depend>pkg-config</buildtool_export_depend>
 
@@ -59,8 +60,6 @@
   <test_depend>ros2run</test_depend>
   <test_depend>sensor_msgs</test_depend>
 
-  <group_depend>rosidl_interface_packages</group_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>