colcon-poetry-ros

An extension for colcon-core that adds support for Python packages that use Poetry within ROS. This extension is a replacement for Colcon’s built-in setup.cfg based Python support and the Python-related bits in colcon-ros.

We use this extension with Humble, but other versions should work as well. Please create an issue if you see problems!

Getting Started

1. [Install Poetry][installing poetry] and the [Poetry Bundle plugin][installing poetry bundle], if you haven’t already.

2. Install this extension with Pip:

   pip3 install colcon-poetry-ros
   

1. Add a pyproject.toml in the root of your package’s directory. Each package should have its own pyproject.toml file. It should look something like this:

   [tool.poetry]
   name = "my_package"
   version = "0.1.0"
   description = "Does something cool"
   authors = ["John Smith <johnny@urbanmachine.build>"]
   license = "BSD-3-Clause"

   [tool.poetry.dependencies]
   python = "^3.8"

   [tool.poetry.scripts]
   node_a = "my_package.node_a:main"
   node_b = "my_package.node_b:main"

   [tool.colcon-poetry-ros.data-files]
   "share/ament_index/resource_index/packages" = ["resource/my_package"]
   "share/my_package" = ["package.xml"]

   [build-system]
   requires = ["poetry-core>=1.0.0"]
   build-backend = "poetry.core.masonry.api"
   

1. Install your packages’ Python dependencies using a script included with this plugin:

   python3 -m colcon_poetry_ros.dependencies.install --base-paths <path to your nodes>
   

1. Finally, run your build like normal:

   colcon build
   

Testing

This extension currently supports projects based on PyTest. Run the following command to start tests:

colcon test

Node Entrypoints

If you want to be able to run your nodes using ros2 run, add your node’s entrypoint to the tool.poetry.scripts table. See Poetry’s documentation for details.

[tool.poetry.scripts]
node_a = "my_package.node_a:main"
node_b = "my_package.node_b:main"

Data Files

Poetry has only limited support for including data files in an installation, and the current implementation is not flexible enough to be used with ROS. Instead, this extension consults a custom section in your pyproject.toml, called tool.colcon-poetry-ros.data-files.

The format is intended to be mostly identical to the data_files field used by [setuptools][setuptools-data-files]. The main differences are that copying entire directories is supported, and globbing is not yet implemented.

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