Generate standalone nodelet executable with oneline cmake macro

nodelet/CMakeLists.txt

@@ -21,6 +21,7 @@ catkin_package(
   LIBRARIES nodeletlib ${UUID_LIBRARIES}
   CATKIN_DEPENDS bondcpp message_runtime pluginlib rosconsole roscpp std_msgs
   DEPENDS Boost
+  CFG_EXTRAS nodelet-extras.cmake
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${BOOST_INCLUDE_DIRS})
@@ -47,3 +48,7 @@ install(TARGETS nodeletlib
 install(TARGETS nodelet
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+install(DIRECTORY cmake
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        USE_SOURCE_PERMISSIONS
+)

nodelet/cmake/nodelet-extras.cmake

@@ -0,0 +1,52 @@
+######################################################################
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2016, Kentaro Wada.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the Kentaro Wada nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+######################################################################
+
+macro(nodelet_add_executable node_name nodelet_name)
+  # Get path to nodelet ROS package
+  if(nodelet_SOURCE_DIR)
+    set(_nodelet_SOURCE_DIR ${nodelet_SOURCE_DIR})
+  elseif(nodelet_SOURCE_PREFIX)
+    set(_nodelet_SOURCE_DIR ${nodelet_SOURCE_PREFIX})
+  else(nodelet_SOURCE_PREFIX)
+    set(_nodelet_SOURCE_DIR ${nodelet_PREFIX}/share/nodelet)
+  endif()
+  # Generate standalone nodelet executable
+  set(NODE_NAME ${node_name})
+  set(NODELET_NAME ${nodelet_name})
+  configure_file(${_nodelet_SOURCE_DIR}/cmake/standalone_nodelet_exe.in ${node_name} @ONLY)
+  file(COPY ${CMAKE_CURRENT_BINARY_DIR}/${node_name}
+       DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
+  install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/${node_name}
+          DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+endmacro()

nodelet/cmake/standalone_nodelet_exe.in

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+######################################################################
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2016, Kentaro Wada.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the Kentaro Wada nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+######################################################################
+
+# Default node name is "@NODE_NAME@",
+# but it is reconfigured by argument afterward.
+rosrun nodelet nodelet standalone @NODELET_NAME@ __name:=@NODE_NAME@ "$@"

test_nodelet/CMakeLists.txt

@@ -18,6 +18,10 @@ if(CATKIN_ENABLE_TESTING)
                                         ${catkin_LIBRARIES}
   )
 
+  # Test nodelet executable
+  nodelet_add_executable(plus test_nodelet/Plus)
+  add_rostest(test_nodelet_executable.launch)
+
   add_rostest(test_local.launch)
   add_rostest(test_loader.launch)
 

test_nodelet/test_nodelet_executable.launch

@@ -0,0 +1,25 @@
+<launch>
+  <node name="Plus"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+  </node>
+
+  <node name="plus_remap"
+        pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.1"/>
+    <remap from="~out" to="remapped_output"/>
+  </node>
+
+  <node name="Plus2"
+        pkg="test_nodelet" type="plus">
+    <rosparam file="$(find test_nodelet)/plus_default.yaml"/>
+  </node>
+
+  <node name="Plus3" pkg="test_nodelet" type="plus">
+    <param name="value" type="double" value="2.5"/>
+    <remap from="~in" to="Plus2/out"/>
+  </node>
+
+  <test test-name="plus_local"
+        pkg="test_nodelet" type="plus_local.py" />
+</launch>