From babdf6b9226f743950628f21b8112a657ef35a59 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 3 Oct 2024 14:17:21 -0400 Subject: [PATCH] Remove use of python_cmake_module (#1570) * Stop using python_cmake_module. We really don't need it anymore, and can just use the builtin find_package(Python3). * Set hints to find the python version we actually want. The comment in the commit explains the reasoning behind it. Signed-off-by: Chris Lalancette --- rosbag2_py/CMakeLists.txt | 26 ++++++++++++++++---------- rosbag2_py/package.xml | 1 - rosbag2_test_common/package.xml | 1 - 3 files changed, 16 insertions(+), 12 deletions(-) diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt index feb07925f..760e289ff 100644 --- a/rosbag2_py/CMakeLists.txt +++ b/rosbag2_py/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(rosbag2_py) # Default to C99 @@ -16,15 +16,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() -# Figure out Python3 debug/release before anything else can find_package it -if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug") - find_package(python_cmake_module REQUIRED) - find_package(PythonExtra REQUIRED) - - # Force FindPython3 to use the debug interpreter where ROS 2 expects it - set(Python3_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}") -endif() - find_package(ament_cmake REQUIRED) find_package(ament_cmake_python REQUIRED) find_package(ament_cmake_ros REQUIRED) @@ -33,6 +24,21 @@ find_package(rosbag2_cpp REQUIRED) find_package(rosbag2_storage REQUIRED) find_package(rosbag2_transport REQUIRED) +# By default, without the settings below, find_package(Python3) will attempt +# to find the newest python version it can, and additionally will find the +# most specific version. For instance, on a system that has +# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find +# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10. +# The behavior we want is to prefer the "system" installed version unless the +# user specifically tells us othewise through the Python3_EXECUTABLE hint. +# Setting CMP0094 to NEW means that the search will stop after the first +# python version is found. Setting Python3_FIND_UNVERSIONED_NAMES means that +# the search will prefer /usr/bin/python3 over /usr/bin/python3.11. And that +# latter functionality is only available in CMake 3.20 or later, so we need +# at least that version. +cmake_policy(SET CMP0094 NEW) +set(Python3_FIND_UNVERSIONED_NAMES FIRST) + # Find python before pybind11 find_package(Python3 REQUIRED COMPONENTS Interpreter Development) diff --git a/rosbag2_py/package.xml b/rosbag2_py/package.xml index 20881547b..7dfac8daf 100644 --- a/rosbag2_py/package.xml +++ b/rosbag2_py/package.xml @@ -16,7 +16,6 @@ ament_cmake_ros ament_cmake_python - python_cmake_module pybind11_vendor rosbag2_compression diff --git a/rosbag2_test_common/package.xml b/rosbag2_test_common/package.xml index cc6160d0b..26bd4dc37 100644 --- a/rosbag2_test_common/package.xml +++ b/rosbag2_test_common/package.xml @@ -13,7 +13,6 @@ ament_cmake ament_cmake_python - python_cmake_module rclcpp rcutils