Separate running script from the package, following catkin conventions

world_canvas_server/CMakeLists.txt

@@ -4,7 +4,10 @@ project(world_canvas_server)
 find_package(catkin REQUIRED)
 
 catkin_package()
+catkin_python_setup()
 
+catkin_install_python(PROGRAMS scripts/world_canvas_server
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 FILE(GLOB_RECURSE script_files scripts/*.py)
 

world_canvas_server/launch/add_map.launch

@@ -7,7 +7,7 @@
      <remap from="map" to="new_map__"/>
   </node>
 
-  <node pkg="world_canvas_server" type="annotations_server.py" name="annotations_server" output="screen">
+  <node pkg="world_canvas_server" type="world_canvas_server" name="world_canvas_server" output="screen">
     <param name="auto_save_map" value="false"/>
      <!-- Read the map to save from our private topic -->
      <remap from="map" to="new_map__"/>

world_canvas_server/launch/world_canvas_server.launch

@@ -8,7 +8,7 @@
     <param name="overwrite" value="false"/>
   </node> -->
 
-  <node pkg="world_canvas_server" type="annotations_server.py" name="world_canvas_server" args="$(arg debug)" output="screen">
+  <node pkg="world_canvas_server" type="world_canvas_server" name="world_canvas_server" args="$(arg debug)" output="screen">
     <param name="start_map_manager" value="true"/>
     <param name="auto_save_map" value="false"/>
   </node> 

world_canvas_server/scripts/world_canvas_server

@@ -0,0 +1,17 @@
+#! /usr/bin/env python
+
+import sys
+import rospy
+
+import world_canvas_server
+
+if __name__ == '__main__':
+    if len(sys.argv) > 1 and sys.argv[1] == 'true':
+        # Only (optional) argument is a debug='true'/'false' flag
+        rospy.init_node('world_canvas_server', log_level=rospy.DEBUG)
+    else:
+        rospy.init_node('world_canvas_server')
+
+    world_canvas_server.AnnotationsServer()
+
+    rospy.spin()

world_canvas_server/setup.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['world_canvas_server'],
+    package_dir={'': 'src'},
+    requires=['roslib', 'rospy', 'world_canvas_msgs', 'world_canvas_libs']
+)
+
+setup(**d)

world_canvas_server/src/world_canvas_server/__init__.py

@@ -0,0 +1,3 @@
+from .annotations_server import *
+from .yaml_database import *
+from .map_manager import *

world_canvas_server/src/annotations_server.py → world_canvas_server/src/world_canvas_server/annotations_server.py

@@ -476,14 +476,3 @@ def service_error(self, response, message):
         response.message = message
         response.result = False
         return response
-
-if __name__ == "__main__":
-    if len(sys.argv) > 1 and sys.argv[1] == 'true':
-        # Only (optional) argument is a debug='true'/'false' flag
-        rospy.init_node('world_canvas_server', log_level=rospy.DEBUG)
-    else:
-        rospy.init_node('world_canvas_server')
-
-    AnnotationsServer()
-
-    rospy.spin()