44 lines
1.5 KiB
Python
44 lines
1.5 KiB
Python
from setuptools import setup, find_packages
|
|
import os
|
|
from glob import glob
|
|
|
|
package_name = 'soft_arm_sim'
|
|
|
|
setup(
|
|
name=package_name,
|
|
version='0.0.0',
|
|
# 自动查找所有包含 __init__.py 的子包
|
|
packages=find_packages(exclude=['test']),
|
|
data_files=[
|
|
('share/ament_index/resource_index/packages',
|
|
['resource/' + package_name]),
|
|
('share/' + package_name, ['package.xml']),
|
|
|
|
# 1. 安装 launch 文件
|
|
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
|
|
|
|
# 2. 安装 urdf 文件 (非常重要，否则 robot_state_publisher 找不到模型)
|
|
(os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
|
|
|
|
# 3. 配置文件安装
|
|
(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
|
|
],
|
|
install_requires=['setuptools'],
|
|
zip_safe=True,
|
|
maintainer='mio',
|
|
maintainer_email='user@todo.todo',
|
|
description='Soft Robot Arm Simulation',
|
|
license='TODO: License declaration',
|
|
tests_require=['pytest'],
|
|
entry_points={
|
|
'console_scripts': [
|
|
# 格式: '可执行文件名 = 包名.路径.文件名:函数名'
|
|
|
|
# 仿真核心节点 (对应 base/simulation_node.py 中的 main 函数)
|
|
'simulator = soft_arm_sim.base.simulation_node:main',
|
|
|
|
# 测试控制器 (对应 control/test_controller.py 中的 main 函数)
|
|
'sine_controller = soft_arm_sim.control.test_controller:main',
|
|
],
|
|
},
|
|
) |