From 5d48a2c9f1fea946ae50f259d86bc1999a8c98a4 Mon Sep 17 00:00:00 2001
From: corot <jsantossimon@gmail.com>
Date: Fri, 28 Nov 2014 15:52:34 +0100
Subject: [PATCH] Separate running script from the package, following catkin
 conventions

---
 world_canvas_server/CMakeLists.txt              |  3 +++
 world_canvas_server/launch/add_map.launch       |  2 +-
 .../launch/world_canvas_server.launch           |  2 +-
 world_canvas_server/scripts/world_canvas_server | 17 +++++++++++++++++
 world_canvas_server/setup.py                    | 12 ++++++++++++
 .../src/world_canvas_server/__init__.py         |  3 +++
 .../annotations_server.py                       | 11 -----------
 .../{ => world_canvas_server}/map_manager.py    |  0
 .../{ => world_canvas_server}/yaml_database.py  |  0
 9 files changed, 37 insertions(+), 13 deletions(-)
 create mode 100755 world_canvas_server/scripts/world_canvas_server
 create mode 100644 world_canvas_server/setup.py
 create mode 100644 world_canvas_server/src/world_canvas_server/__init__.py
 rename world_canvas_server/src/{ => world_canvas_server}/annotations_server.py (98%)
 rename world_canvas_server/src/{ => world_canvas_server}/map_manager.py (100%)
 rename world_canvas_server/src/{ => world_canvas_server}/yaml_database.py (100%)

diff --git a/world_canvas_server/CMakeLists.txt b/world_canvas_server/CMakeLists.txt
index 4015235..e65716b 100644
--- a/world_canvas_server/CMakeLists.txt
+++ b/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)
 
diff --git a/world_canvas_server/launch/add_map.launch b/world_canvas_server/launch/add_map.launch
index 1ececcd..f650a47 100644
--- a/world_canvas_server/launch/add_map.launch
+++ b/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__"/>
diff --git a/world_canvas_server/launch/world_canvas_server.launch b/world_canvas_server/launch/world_canvas_server.launch
index 2b9cdc6..97c9305 100644
--- a/world_canvas_server/launch/world_canvas_server.launch
+++ b/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> 
diff --git a/world_canvas_server/scripts/world_canvas_server b/world_canvas_server/scripts/world_canvas_server
new file mode 100755
index 0000000..1b6bbc9
--- /dev/null
+++ b/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()
diff --git a/world_canvas_server/setup.py b/world_canvas_server/setup.py
new file mode 100644
index 0000000..8e57f9b
--- /dev/null
+++ b/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)
diff --git a/world_canvas_server/src/world_canvas_server/__init__.py b/world_canvas_server/src/world_canvas_server/__init__.py
new file mode 100644
index 0000000..a0c1e3b
--- /dev/null
+++ b/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 *
diff --git a/world_canvas_server/src/annotations_server.py b/world_canvas_server/src/world_canvas_server/annotations_server.py
similarity index 98%
rename from world_canvas_server/src/annotations_server.py
rename to world_canvas_server/src/world_canvas_server/annotations_server.py
index 27ce4e6..d16da77 100755
--- a/world_canvas_server/src/annotations_server.py
+++ b/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()
diff --git a/world_canvas_server/src/map_manager.py b/world_canvas_server/src/world_canvas_server/map_manager.py
similarity index 100%
rename from world_canvas_server/src/map_manager.py
rename to world_canvas_server/src/world_canvas_server/map_manager.py
diff --git a/world_canvas_server/src/yaml_database.py b/world_canvas_server/src/world_canvas_server/yaml_database.py
similarity index 100%
rename from world_canvas_server/src/yaml_database.py
rename to world_canvas_server/src/world_canvas_server/yaml_database.py