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 Foxy and Humble, but other versions should work as well. Please create an issue if you see problems!

Getting Started

Start by install this extension with Pip:

pip3 install colcon-poetry-ros

Then, 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"

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. The main differences are that copying entire directories is supported, and globbing is not yet implemented.

All ROS packages must have, at minimum, these entries in the tool.colcon-poetry-ros.data-files section (with {package_name} replaced with the name of your package):

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

These entries take care of adding the package index marker and package.xml file to the installation.

Installing Dependencies

Poetry dependencies are not installed as part of the build process, but they can be installed using a separate tool that's included in this package.

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

This command installs each package's dependencies to Colcon's base install directory. This means that your dependencies live alongside your package's code after it's built, isolated from the rest of your system.

If you customize colcon build with the --install-base or --merge-install flags, make sure to provide those to this tool as well.

Communicating Dependencies to Colcon

Colcon can be given information on dependencies between packages, which affects build order and can be displayed in tools like colcon graph. These dependencies can be explicitly defined in the pyproject.toml under a custom section called tool.colcon-poetry-ros.dependencies.

[tool.colcon-poetry-ros.dependencies]
depend = ["foo_package"]   # This will add to both `build_depend` and `exec_depend` following `package.xml` standards
build_depend = ["bar_package"]
exec_depend = ["baz_package"]
test_depend = ["qux_package"]