ROS系统将python包编译为可执行文件的简单步骤

git clone https://gitee.com/alen2020/ros_python_install_mode_files
##取该目录下的cmake目录和setup.py,install.sh到自己节点的目录
cp -r cmake setup.py  car_mqtt_api/

cp install.sh  car_mqtt_api/

##需要修改install.sh下的package_name,修改为当前包名

package_name=
package_path=`rospack find ${package_name}`
if [ $# -eq 1 ]; then
    package_path=$1
fi
#注意默认认为.py文件放到src目录下,如果放到scripts下,需要改为scripts 
#我默认ROS工作空间的前缀目录为/root/ROS/catkin_ws/ ,如不是则请修改
mkdir $package_path/src/$package_name/cfg
cp  /root/ROS/catkin_ws/devel/lib/python2.7/dist-packages/$package_name/cfg/* $package_path/src/$package_name/cfg

##原结构,.py文件应放在scripts文件夹下
ls 

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
# include CMake module for Cython
include(UseCython)
add_custom_target(ReplicatePythonSourceTree ALL ${CMAKE_COMMAND} -P
  ${CMAKE_CURRENT_SOURCE_DIR}/cmake/ReplicatePythonSourceTree.cmake
  ${CMAKE_CURRENT_BINARY_DIR}
  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
add_subdirectory(src)

##如果用到动态调参,需要另加上下面语句
add_custom_target(install.sh ALL)

add_custom_command(TARGET install.sh
POST_BUILD
COMMAND /bin/sh ${PROJECT_SOURCE_DIR}/install.sh ${PROJECT_SOURCE_DIR})
)

##添加子目录
add_subdirectory(mypackage)

cython_add_standalone_executable(1 MAIN_MODULE 1.py mypackage/2.py 1.py)
install(TARGETS 1
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

cython_add_module(2 2.py)
set_target_properties(2
  PROPERTIES
  LIBRARY_OUTPUT_DIRECTORY
  ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION})
install(TARGETS 2
  LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
省略以下。。。

cython_add_standalone_executable(car_mqtt_api_main MAIN_MODULE car_mqtt_api_main.py car_mqtt_api_main.py)

install(TARGETS car_mqtt_api_main
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

原
from mypackage import 2
改后
from mypackage.2 import function

devel/lib/python2.7/dist-packages/mypackage/cfg

mkdir -p mypackage/scritps/cfg
cp */devel/lib/python2.7/dist-packages/mypackage/cfg scripts/mypackage/cfg