def main():
# Show help even if there is no fsetup.py.
if len(sys.argv) == 1:
fbrp.main()
return
# Default the entrypoint file to the fsetup.py in the current directory.
fsetup_path = os.path.abspath("fsetup.py")
# The user may specify another entrypoint with:
# fbrp -f <file> [args...]
if len(sys.argv) >= 3 and sys.argv[1] == "-f":
fsetup_path = os.path.abspath(sys.argv[2])
sys.argv = sys.argv[:1] + sys.argv[3:]
# Ensure the entrypoint file exists.
if not os.path.exists(fsetup_path):
fbrp.util.fail(f"No fsetup.py file found.")
# Run the entrypoint file.
SourceFileLoader("fsetup", fsetup_path).load_module()
name="proc",
runtime=fbrp.Conda(
channels=[
"conda-forge",
"robostack",
],
dependencies=[
"python>=3.7",
"ros-foxy-ompl",
],
setup_commands=[
[
"g++",
"-o",
"proc",
fbrp.NoEscape("-I${CONDA_PREFIX}/include"),
fbrp.NoEscape("-I${CONDA_PREFIX}/include/eigen3"),
fbrp.NoEscape("-I${CONDA_PREFIX}/include/ompl-1.5"),
"./proc.cpp",
fbrp.NoEscape("-L${CONDA_PREFIX}/lib"),
"-lompl",
],
],
run_command=[
fbrp.NoEscape("LD_LIBRARY_PATH=${CONDA_PREFIX}/lib"), "./proc"
],
),
)
fbrp.main()
