More fixes for packages and basic buildEnv

base.nix

@@ -15,13 +15,17 @@ self: super: with super.lib; let
       rosinstall-generator = pySelf.callPackage ./rosinstall-generator { };
 
       rospkg = pySelf.callPackage ./rospkg { };
+
+      vcstools = pySelf.callPackage ./vcstools { };
+
+      wstool = pySelf.callPackage ./wstool { };
     };
   });
 
 in {
+  openni2 = self.callPackage ./openni2 { };
+
   python27 = pythonOverridesFor super.python27;
   python36 = pythonOverridesFor super.python36;
   python37 = pythonOverridesFor super.python37;
-
-  console-bridge = self.callPackage ./console-bridge { };
 }

build-env/default.nix

@@ -1,21 +1,21 @@
-{ stdenv, runCommand, makeWrapper, catkin }:
+{ stdenv, buildEnv, requiredRosPackages, catkin, cmake }:
-{ packages ? []
+{ paths ? [], ... }@args:
-, extraOutputsToInstall ? []
-, postBuild ? ""
-, ignoreCollisions ? false
-# Wrap executables with the given argument.
-, makeWrapperArgs ? [] }:
 
 let
-  env = runCommand "ros-env" {
+  propagatePackages = drvs: let
-    inherit packages;
+    validDrvs = filter (d: d != null) drvs;
-  
+  in if length validDrvs == 0 then []
-    nativeBuildInputs = [ makeWrapper ];
+    else unique (validDrvs ++ (propagatePackages (unique (concatLists (catAttrs "propagatedBuildInputs" validDrvs)))));
-    
+
+  env = buildEnv (args // {
+    name = "ros-env";
+    paths = propagatePackages paths;
+    ignoreCollisions = true;
+
     passthru.env = stdenv.mkDerivation {
       name = "interactive-ros-env";
-      nativeBuildInputs = [ env ];
+      nativeBuildInputs = [ catkin cmake ];
-      buildInputs = [ catkin ];
+      buildInputs = [ env ];
 
       buildCommand = ''
         echo >&2 ""
@@ -24,75 +24,5 @@ let
         exit 1
       '';
     };
-  } ''
+  });
-    declare -A symlinks
-    declare -A pkgsAdded
-  
-    isCatkinPackage() {
-      local pkg="$1"
-      [ -d "$pkg/share" ] && \
-      [ -n "$(find "$pkg/share" \
-        -maxdepth 2 -mindepth 2 \
-        -name package.xml -print -quit)" ]
-    }
-    
-    isPythonPackage() {
-      [ -d "$1/${python.sitePackages}" ]
-    }
-
-    addPackageCommon() {
-      local pkg="$1"
-      shift
-
-      if [ -n "''${pkgsAdded[$pkg]}" ]; then return; fi
-      pkgsAdded[$pkg]=1
-
-      cd "$pkg"
-
-      local target
-      while IFS= read -r -d $'\0' file; do
-        target=$(realpath "$file")
-        symlinks[$file]="$pkg/$file"
-      done < <(find . \
-        -path ./nix-support -prune -o \
-        "$@" -type f -print0)
-      
-      local prop="$pkg/nix-support/propagated-build-inputs"
-      if [ -e "$prop" ]; then
-          local new_pkg
-          for new_pkg in $(<"$prop"); do
-              addPackage $new_pkg
-          done
-      fi
-    }
-
-    addCatkinPackage() {
-      addPackageCommon "$1"
-    }
-
-    addPythonPackage() {
-      addPackageCommon "$1"
-    }
-
-    addPackage() {
-      local pkg="$1"
-      
-      if isCatkinPackage "$pkg"; then
-        addCatkinPackage "$pkg"
-      elif isPythonPackage "$pkg"; then
-        addPythonPackage "$pkg"
-      fi
-    }
-
-    for p in ''${packages[@]}; do
-      addPackage "$p"
-    done
-
-    for link in "''${!symlinks[@]}"; do
-      mkdir -p "$(dirname "$out/$link")"
-      ln -s "''${symlinks[$link]}" "$out/$link"
-    done
-
-    ${postBuild}
-  '';
 in env

build-ros-package/default.nix

@@ -4,17 +4,10 @@
 , buildInputs ? []
 , nativeBuildInputs ? []
 , propagatedNativeBuildInputs ? []
+, passthru ? {}
 , ...
 }@args: stdenv.mkDerivation (args // {
 
   nativeBuildInputs = [ python.pkgs.wrapPython ] ++ nativeBuildInputs;
   propagatedNativeBuildInputs = [ cmake ] ++ propagatedNativeBuildInputs;
-
-  postInstall = ''
-    pushd $out
-    rm -f *setup.*sh
-    rm -f _setup_util.py
-    rm -f env.sh
-    popd
-  '' + postInstall;
 })

catkin-pkg/default.nix

@@ -1,4 +1,5 @@
-{ buildPythonPackage, fetchPypi, python-dateutil, docutils, pyparsing }:
+{ buildPythonPackage, fetchPypi, fetchpatch, python-dateutil, docutils
+, pyparsing }:
 
 buildPythonPackage rec {
   pname = "catkin_pkg";
@@ -9,6 +10,12 @@ buildPythonPackage rec {
     sha256 = "1nv4kgapn6rbdvfgz96z5h5jdga6zca3gg1a5r3n8giykzkmy992";
   };
 
+  # Fix argparse requirement
+  patches = [ (fetchpatch {
+    url = https://github.com/ros-infrastructure/catkin_pkg/commit/5cf0ea92d9ff888d48413b2948370a0bbb34abdc.patch;
+    sha256 = "04v3wjwmh1chziqqhxmgf47dgmcxqaissn1zjjx1jblbn2ar5fav";
+  }) ];
+
   propagatedBuildInputs = [ python-dateutil docutils pyparsing ];
 
   meta = {

catkin-setup-hook/setup-hook.sh

@@ -13,9 +13,22 @@ _addRosPackagePath() {
 }
 addEnvHooks "$hostOffset" _addRosPackagePath
 
+_catkinPostPatchHook() {
+  patchShebangs cfg
+}
+postPatchHooks+=(_catkinPostPatchHook)
+
 _catkinPreConfigureHook() {
-    cmakeFlags+=" -DCATKIN_ENABLE_TESTING=${doCheck:-OFF}"
+  cmakeFlags+=" -DCATKIN_ENABLE_TESTING=${doCheck:-OFF}"
 }
 preConfigureHooks+=(_catkinPreConfigureHook)
 
+_catkinPostInstallHook() {
+  pushd $out
+  rm -f *setup.*sh
+  rm -f _setup_util.py env.sh .rosinstall
+  popd
+}
+postInstallHooks+=(_catkinPostInstallHook)
+
 export ROS_DISTRO="@distro@"

console-bridge/default.nix

@@ -1,20 +0,0 @@
-{ lib, stdenv, fetchFromGitHub, cmake }:
-stdenv.mkDerivation rec {
-  pname = "console_bridge";
-  version = "0.4.3";
-
-  src = fetchFromGitHub {
-    owner = "ros";
-    repo = pname;
-    rev = version;
-    sha256 = "0vk2ji4q93w3fw4s6p0i9d3x2ppsmhxm3x7qrcl4jfr0pyj96n5x";
-  };
-
-  nativeBuildInputs = [ cmake ];
-
-  meta = with lib; {
-    description = "A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages";
-    homepage = https://github.com/ros/console_bridge;
-    license = licenses.bsd3;
-  };
-}

default.nix

@@ -1,6 +1,6 @@
 { overlays ? [] }@args: import <nixpkgs> {
   overlays = [
     (import ./base.nix)
-    (import ./melodic)
+    (import ./overlay.nix)
   ] ++ overlays;
 } // args

kinetic/astra-camera/openni2.patch

@@ -0,0 +1,38 @@
+From e47cc42c6531cbd73831d0a58420fdd67f22fca9 Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Wed, 3 Apr 2019 23:25:58 -0400
+Subject: [PATCH] Make OpenNI dep sane
+
+---
+ CMakeLists.txt | 15 ++-------------
+ 1 file changed, 2 insertions(+), 13 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c15e5db..9d674e3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -33,19 +33,8 @@ else()
+ set(obfilter "Off")
+ endif()
+ 
+-include(ExternalProject)
+-
+-ExternalProject_Add(astra_openni2
+-  PREFIX astra_openni2
+-  # SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/astra_openni2/OpenNI2
+-  GIT_REPOSITORY https://github.com/orbbec/OpenNI2.git
+-  GIT_TAG orbbec_ros
+-  CONFIGURE_COMMAND echo "no need to configure"
+-  BUILD_IN_SOURCE 1
+-  BUILD_COMMAND make release FILTER=${obfilter}
+-  INSTALL_DIR openni2
+-  INSTALL_COMMAND tar -xjf <SOURCE_DIR>/Packaging/Final/OpenNI-Linux-2.3.tar.bz2 -C <INSTALL_DIR> --strip 1 && mkdir -p <INSTALL_DIR>/include && ln -fs <INSTALL_DIR>/Include <INSTALL_DIR>/include/openni2
+-)
++find_package(PkgConfig)
++pkg_check_modules(astra_openni2 REQUIRED libopenni)
+ 
+ generate_dynamic_reconfigure_options(cfg/Astra.cfg)
+ add_service_files(FILES
+-- 
+2.21.0
+

kinetic/librealsense/gcc7.patch

@@ -0,0 +1,24 @@
+From da0de25eb982c1476cf1276f741a11175e9b08fb Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Wed, 3 Apr 2019 18:17:58 -0400
+Subject: [PATCH] Fix build with GCC 7.
+
+---
+ src/types.h | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/src/types.h b/src/types.h
+index 0455c836..a964bf3e 100644
+--- a/src/types.h
++++ b/src/types.h
+@@ -22,6 +22,7 @@
+ #include <atomic>
+ #include <map>          
+ #include <algorithm>
++#include <functional>
+ 
+ const uint8_t RS_STREAM_NATIVE_COUNT    = 5;
+ const int RS_USER_QUEUE_SIZE = 20;
+-- 
+2.21.0
+

kinetic/overrides.nix

@@ -6,23 +6,9 @@ rosSelf: rosSuper: {
     gazebo = self.gazeboSimulator.gazebo7;
   };
   
-  astra-camera = rosSuper.astra-camera.overrideDerivation ({
+  # If anyone actually needs this package, its your problem to get it to
-    cmakeFlags ? [],
+  # compile.
-    preConfigure ? "", ...
+  astra-camera = null;
-  }: let 
-    astraOpenNI2 = self.fetchFromGitHub {
-      owner = "orbbec";
-      repo = "OpenNI2";
-      rev = "orbbec_ros";
-      sha256 = "1yxgb6vf0kic45jgxvh5bbcrcl7bnjq0fxa5cgvg45is1313d530";
-    };
-  in {
-    cmakeFlags = cmakeFlags ++ [ "-DUPDATE_DISCONNECTED=1" ];
-    preConfigure = preConfigure + ''
-      mkdir -p build/.third-party
-      ln -s ${astraOpenNI2} build/.third-party/astra_openni2
-    '';
-  });
 
   catkin = rosSuper.catkin.overrideDerivation ({
     patches ? [], ...
@@ -57,6 +43,14 @@ rosSelf: rosSuper: {
     buildInputs = buildInputs ++ [ self.libGL self.libGL.dev self.libGLU self.libGLU.dev ];
   });
 
+  librealsense = rosSuper.librealsense.overrideDerivation ({
+    patches ? [],
+    cmakeFlags ? [], ...
+  }: {
+    patches = patches ++ [ ./librealsense/gcc7.patch ];
+    cmakeFlags = cmakeFlags ++ [ "-DROS_BUILD_TYPE=1" ];
+  });
+
   rospack = rosSuper.rospack.overrideDerivation ({
     patches ? [], ...
   }: {
@@ -69,7 +63,7 @@ rosSelf: rosSuper: {
   });
   
   realsense-camera = rosSuper.realsense-camera.overrideDerivation ({
-    buildInputs ? [],
+    buildInputs ? [], ...
   }: {
     buildInputs = buildInputs ++ [ rosSelf.librealsense ];
   });

mk-distro-overlay.nix

@@ -0,0 +1,136 @@
+{ distro, python }:
+
+self: super: with self.lib; let
+
+  applyOverlays = self: super: overlays: let
+    curSuper = applyOverlays self super (init overlays);
+  in if length overlays == 0 then super
+     else curSuper // (last overlays) self curSuper;
+
+  mkOverlay = overlays: let
+    self = applyOverlays self {} overlays;
+  in self;
+
+  base = rosSelf: rosSuper: {
+    callPackage = self.newScope rosSelf;
+
+    buildRosPackage = rosSelf.callPackage ./build-ros-package { };
+
+    buildEnv = rosSelf.callPackage ./build-env {
+      inherit (self) buildEnv;
+    };
+
+    inherit python;
+    pythonPackages = rosSelf.python.pkgs;
+
+    boost = self.boost.override {
+      python = rosSelf.python;
+      enablePython = true;
+    };
+  };
+
+  overrides = rosSelf: rosSuper: let
+    patchBoostPython = let
+      pythonVersion = rosSelf.python.sourceVersion;
+      pythonLib = "python${pythonVersion.major}${pythonVersion.minor}";
+    in ''
+      sed -Ei CMakeLists.txt \
+        -e 's/(Boost [^)]*)python[^ )]*([ )])/\1${pythonLib}\2/'
+    '';
+  in {
+    # ROS package overrides/fixups
+
+    actionlib = rosSuper.actionlib.overrideDerivation ({
+      patches ? [], ...
+    }: {
+      patches = patches ++ [
+        (self.fetchpatch {
+          url = https://github.com/ros/actionlib/commit/677e952fcbfe49e6e4c5b835357f88740f49c6ff.patch;
+          sha256 = "0825w6r5kzz9y7syrrn6q1v0fjrd8qhn11rq2n4kc064702r8jf7";
+        })
+      ];
+    });
+
+    camera-calibration-parsers = rosSuper.camera-calibration-parsers.overrideDerivation ({
+      postPatch ? "", ...
+    }: {
+      postPatch = postPatch + patchBoostPython;
+    });
+
+    catkin = rosSuper.catkin.overrideDerivation ({
+      postPatch ? "", ...
+    }: {
+      postPatch = postPatch + ''
+        patchShebangs cmake
+        substituteInPlace cmake/templates/python_distutils_install.sh.in \
+          --replace /usr/bin/env "${self.coreutils}/bin/env"
+      '';
+      setupHook = self.callPackage ./catkin-setup-hook { } distro;
+    });
+
+    cv-bridge = rosSuper.cv-bridge.overrideDerivation ({
+      postPatch ? "",
+      propagatedBuildInputs ? [], ...
+    }: {
+      postPatch = postPatch + patchBoostPython;
+      propagatedBuildInputs = propagatedBuildInputs ++ [ rosSelf.pythonPackages.opencv3 ];
+    });
+
+    dynamic-reconfigure = rosSuper.dynamic-reconfigure.overrideDerivation ({
+      postPatch ? "", ...
+    }: {
+      postPatch = postPatch + ''
+        substituteInPlace cmake/setup_custom_pythonpath.sh.in \
+          --replace '#!/usr/bin/env sh' '#!${self.stdenv.shell}'
+      '';
+    });
+
+    map-server = rosSuper.map-server.overrideDerivation ({
+      nativeBuildInputs ? [], ...
+    }: {
+      nativeBuildInputs = nativeBuildInputs ++ [ self.pkgconfig ];
+    });
+
+    python-qt-binding = rosSuper.python-qt-binding.overrideDerivation ({
+      postPatch ? "", ...
+    }: {
+      postPatch = ''
+        sed -e "s#'-I', sip_dir,#'-I', '${rosSelf.pythonPackages.pyqt5}/share/sip/PyQt5',#" \
+            -e "s#qtconfig\['QT_INSTALL_HEADERS'\]#'${self.qt5.qtbase.dev}/include'#g" \
+            -i cmake/sip_configure.py
+      '' + postPatch;
+    });
+
+    qt-gui-cpp = rosSuper.qt-gui-cpp.overrideDerivation ({
+      nativeBuildInputs ? [], ...
+    }: {
+      nativeBuildInputs = nativeBuildInputs ++ [ rosSelf.pythonPackages.sip ];
+
+      # Prevent /build RPATH references
+      preFixup = "rm -r devel/lib";
+    });
+
+    rqt-gui = rosSuper.rqt-gui.overrideDerivation ({
+      nativeBuildInputs ? [],
+      postFixup ? "", ...
+    }: {
+      nativeBuildInputs = nativeBuildInputs ++ [ self.makeWrapper ];
+
+      postFixup = ''
+        wrapProgram $out/bin/rqt \
+          --set QT_PLUGIN_PATH "${self.qt5.qtbase.bin}/${self.qt5.qtbase.qtPluginPrefix}"
+      '' + postFixup;
+    });
+
+    urdf = rosSuper.urdf.overrideDerivation ({
+      postPatch ? "", ...
+    }: {
+      postPatch = postPatch + patchBoostPython;
+    });
+  };
+in mkOverlay [
+  base
+  (import (./. + "/${distro}/generated.nix"))
+  overrides
+  (import (./. + "/${distro}/overrides.nix") self)
+]

openni2/default.nix

@@ -0,0 +1,65 @@
+{ clangStdenv, fetchurl, fetchFromGitHub, libusb1, jdk, python3, doxygen
+, libGLU, xorg, freeglut }:
+
+let
+  libopenni2_pc = fetchurl {
+    url = https://salsa.debian.org/multimedia-team/openni2/raw/master/debian/libopenni2.pc;
+    sha256 = "1023s3j71m56fnvqmai4683ds4fbm92dhf1s8csdrdn88a726ygm";
+  };
+in clangStdenv.mkDerivation rec {
+  pname = "openni2";
+  version = "2.2.0.33";
+
+  src = fetchFromGitHub {
+    owner = "OpenNI";
+    repo = "OpenNI2";
+    rev = "ca2cdcf39d49332fa9462188a952ff9953e9e1d9";
+    sha256 = "0mfnyzpq53wnzgjfx91xcbx0nrl0lp1vrk1rk20a3gb3kshsr675";
+  };
+
+  nativeBuildInputs = [ jdk python3 doxygen ];
+  buildInputs = [ libusb1 libGLU xorg.libX11 freeglut ];
+
+  outputs = [ "out" "doc" ];
+
+  postPatch = ''
+    patchShebangs Source
+    patchShebangs Packaging
+
+    sed -e "s/cmd = \[javaDocExe, '-d', 'java'\]/cmd = [javaDocExe, '-d', 'java', '-Xdoclint:none']/" \
+      -i Source/Documentation/Runme.py
+    sed -e "s%/etc/udev/rules.d/%$out/etc/udev/rules.d/%" \
+      -e s%exit%% \
+      -i Packaging/Linux/install.sh
+  '';
+
+  makeFlags = [ "CFG=Release" "ALLOW_WARNINGS=1" ];
+
+  postBuild = ''
+    make doc
+  '';
+
+  installPhase = ''
+    install -d -m755 "$out/"{etc,bin,include,lib/OpenNI2/Drivers}
+
+    cp -r Config "$out/etc/OpenNI2"
+
+    cp -r Include "$out/include/openni2"
+
+    pushd Bin/*-Release
+    install *.so "$out/lib"
+    find . -type f -executable -exec install {} "$out/bin" \;
+    install OpenNI2/Drivers/*.so "$out/lib/OpenNI2/Drivers"
+    popd
+
+    install -d -m755 "$out/etc/udev/rules.d"
+    Packaging/Linux/install.sh
+
+    install -d -m755 "$out/lib/pkgconfig"
+    cp "${libopenni2_pc}" "$out/lib/pkgconfig/libopenni2.pc"
+    sed -i "s%^prefix=.*%prefix=$out%" "$out/lib/pkgconfig/libopenni2.pc"
+
+    install -d -m755 "$doc/share/doc"
+    cp -r Source/Documentation/html "$doc/share/doc/OpenNI2"
+  '';
+}

overlay.nix

@@ -0,0 +1,18 @@
+self: super: {
+  rosPackages = rec {
+    kinetic = import ./mk-distro-overlay.nix {
+      distro = "kinetic";
+      python = self.python2;
+    } self super;
+
+    kineticPython3 = import ./mk-distro-overlay.nix {
+      distro = "kinetic";
+      python = self.python3;
+    } self super;
+
+    melodic = import ./mk-distro-overlay.nix {
+      distro = "melodic";
+      python = self.python3;
+    } self super;
+  };
+}

rosinstall/default.nix

@@ -1,7 +1,7 @@
 { lib, buildPythonPackage, fetchPypi, makeWrapper, vcstools, pyyaml, rosdistro
 , catkin-pkg, wstool, rospkg }:
 
-rosinstall = buildPythonPackage rec {
+buildPythonPackage rec {
   pname = "rosinstall";
   version = "0.7.8";
 
@@ -18,4 +18,4 @@ rosinstall = buildPythonPackage rec {
     homepage = http://wiki.ros.org/rosinstall;
     license = licenses.bsd3;
   };
-};
+}

vcstools/default.nix

@@ -0,0 +1,22 @@
+{ buildPythonPackage, fetchPypi, pyyaml, python-dateutil }:
+
+buildPythonPackage rec {
+  pname = "vcstools";
+  version = "0.1.40";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "1mfasip71ky1g968n1zlramgn3fjxk4c922d0x9cs0nwm2snln4m";
+  };
+
+  propagatedBuildInputs = [ pyyaml python-dateutil ];
+
+  # Tries to download files and lots of other issues
+  doCheck = false;
+
+  meta = {
+    description = "Python library for interacting with various VCS systems";
+    homepage = http://wiki.ros.org/vcstools;
+  };
+}
+

wstool/default.nix

@@ -0,0 +1,18 @@
+{ buildPythonPackage, fetchPypi, vcstools, pyyaml }:
+
+buildPythonPackage rec {
+  pname = "wstool";
+  version = "0.1.17";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "0dz2gn2qx919s1z5wa94nkvb01pnqp945mvj97108w7i1q8lz6y7";
+  };
+
+  propagatedBuildInputs = [ vcstools pyyaml ];
+
+  meta = {
+    description = "A tool for managing a workspace of multiple heterogenous SCM repositories";
+    homepage = http://wiki.ros.org/wstool;
+  };
+}