toolchain-2.9: fix rosdep compatibility of manifest.xml and merge recent changes to package.xml

[meyerj]

I updated the package.xml, which - as far as I know - is only used by ROS tools, and merged the recent dependency changes from master. Like this, it can be compiled using ROS and catkin.

I am not sure about the changes in manifest.xml. Most likely they would break the autoproj bootstrap procedure, right? If yes, the alternative would be to submit a PR to https://github.com/ros/rosdistro/tree/master/rosdep/rosdep.yaml and add the key ruby-dev there.

The differences between toolchain-2.9 and master are actually quite small. Is it desirable to submit individual PRs targeting master and only keep the ROS/catkin-specific changes in toolchain-2.x? Most non-catkin patches have been contributed by @smits.

Ideally the patches related to catkin and ROS-builds are not breaking non-ROS builds and catkin as a dependency is optional. See also related discussion in #23.

[doudou]

If yes, the alternative would be to submit a PR to https://github.com/ros/rosdistro/tree/master/rosdep/rosdep.yaml and add the key ruby-dev there.

That would be better. ruby-dev got re-added because ruby is not ruby-dev in Rock.

About merging the 2.9 changes in master: I would prefer that you don't do anything catkin-related if catkin is not present in the CMakeLists.txt, for instance:

• generate and install package.xml
• install the env hook file

[meyerj]

@doudou Where exactly is key ruby-dev defined in AutoProj? I could not find it in either lib/autoproj/default.osdeps or package_set/rock.osdeps. Is it directly considered to be an OS package if not found elsewhere?

[doudou]

It's in autoproj's default.osdeps. It is defined there, as autoproj itself needed to install it.

[meyerj]

About merging the 2.9 changes in master: I would prefer that you don't do anything catkin-related if catkin is not present in the CMakeLists.txt, for instance:

generate and install package.xml

We could install that file conditionally, but the behavior should be consistent within rtt, ocl, utilrb, typelib and rtt_typelib.

install the env hook file

The env-hook concept from catkin has been mimicked for Orocos in orocos-toolchain/orocos_toolchain#13, to replace the original env.sh script in the orocos_toolchain meta repository. The new setup.sh script would source package-specific env-hooks scripts found in <install-space>/etc/orocos/profile.d/ in setup.sh:79, while catkin does the same for env-hooks found in <install-space>/etc/catkin/profile.d (ROS users only). The latter gets only installed if catkin has been found during installation.

Are there any alternative ways to populate environment variables (PKG_CONFIG_PATH, RTT_COMPONENT_PATH, TYPELIB_USE_GCCXML, etc.) required for Orocos Toolchain packages I am not aware of?

[doudou]

Are there any alternative ways to populate environment variables (PKG_CONFIG_PATH, RTT_COMPONENT_PATH, TYPELIB_USE_GCCXML, etc.) required for Orocos Toolchain packages I am not aware of?

Well ... autoproj for once does not use these env.sh files, and I'd rather not have to explain why /etc is polluted by files nobody ever heard about on our side.

[meyerj]

Key ruby-dev has been added to the rosdep database in ros/rosdistro#18302. So no changes to manifest.xml required. What is left is only a minor cleanup of package.xml.