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如何使python-ros2软件包含糊以隐藏源代码？

发布于 2025-01-27 05:35:07 字数 100 浏览 4 评论 0原文

我有一个ROS2-Python（RCLPY）包，其中有多个子弹可以一起使用。我想使软件包含糊不清，以隐藏源代码，然后将可执行文件留下来完成工作。有什么想法如何使用软件包和启动文件的设置。

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一紙繁鸢 2025-02-03 05:35:07

因此，如果有人面对同样的问题，我会回答自己的问题。为了使您的ROS2软件包用Python搅拌，最好的方法是将所需的Cython组件分别添加到每个软件包的 setup.py 中。我已经标记了Cython Parts（带有＆lt; - ），以进行更好的施工。

请注意，使用COLCON构建包装后，Python源代码的副本将存储在Colcon生成的安装目录下。您可以轻松地手动删除它们，并且该软件包应使用生成的C和共享对象文件运行。

from glob import glob
from setuptools import setup
from Cython.Build import cythonize <--
import os

package_name = 'your_package_name_here'

files = package_name + "/*.py"

setup(
    ext_modules=cythonize(files,compiler_directives={'language_level' : "3"},force=True,quiet=True), <--
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        (os.path.join('share', package_name), glob('launch/*.launch.py'))
    ],
    install_requires=['setuptools', "wheel",  "Cython"], <--
    zip_safe=True,
    maintainer='NAME',
    maintainer_email='EMAIL',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
            'SOME CODE HERE',
        ],
    },
)

So I would answer my own question in case someone faced the same issue. For cythonizing your ros2 package in python the best way is adding the required cython components to the setup.py of each package separately. I have marked the cython parts (with <--) for a better understranding.

Please note that after building the package using colcon, a copy of the python source codes would be stored under the install directory produced by colcon. You can easily delete them manually and the package should run with the generated c and shared object files.

from glob import glob
from setuptools import setup
from Cython.Build import cythonize <--
import os

package_name = 'your_package_name_here'

files = package_name + "/*.py"

setup(
    ext_modules=cythonize(files,compiler_directives={'language_level' : "3"},force=True,quiet=True), <--
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        (os.path.join('share', package_name), glob('launch/*.launch.py'))
    ],
    install_requires=['setuptools', "wheel",  "Cython"], <--
    zip_safe=True,
    maintainer='NAME',
    maintainer_email='EMAIL',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
            'SOME CODE HERE',
        ],
    },
)

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