From b8d46a01518ca54d4e0e6941504fd6b4a4504c27 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Tue, 15 Nov 2022 13:48:25 +0100
Subject: [PATCH] examples: switch to cmake for symlink-install

Workaround for https://github.com/colcon/colcon-core/issues/407

Fixes #87
---
 crazyflie_examples/CMakeLists.txt | 19 +++++++++++++++++
 crazyflie_examples/package.xml    |  5 ++++-
 crazyflie_examples/setup.cfg      | 10 +++++----
 crazyflie_examples/setup.py       | 35 -------------------------------
 4 files changed, 29 insertions(+), 40 deletions(-)
 create mode 100644 crazyflie_examples/CMakeLists.txt
 delete mode 100644 crazyflie_examples/setup.py

diff --git a/crazyflie_examples/CMakeLists.txt b/crazyflie_examples/CMakeLists.txt
new file mode 100644
index 000000000..9ea4389cd
--- /dev/null
+++ b/crazyflie_examples/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(crazyflie_examples)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+# Install Python modules
+ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_NAME})
+
+# Install launch and config files.
+install(DIRECTORY
+  config
+  data
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
diff --git a/crazyflie_examples/package.xml b/crazyflie_examples/package.xml
index c280be6ce..04015c337 100644
--- a/crazyflie_examples/package.xml
+++ b/crazyflie_examples/package.xml
@@ -7,6 +7,9 @@
   <maintainer email="hoenig@tu-berlin.de">Wolfgang Hönig, Kimberly McGuire</maintainer>
   <license>MIT</license>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
   <depend>rclpy</depend>
   <depend>crazyflie_py</depend>
 
@@ -16,6 +19,6 @@
   <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/crazyflie_examples/setup.cfg b/crazyflie_examples/setup.cfg
index 4ad112eaf..e2443cc06 100644
--- a/crazyflie_examples/setup.cfg
+++ b/crazyflie_examples/setup.cfg
@@ -1,4 +1,6 @@
-[develop]
-script_dir=$base/lib/crazyflie_examples
-[install]
-install_scripts=$base/lib/crazyflie_examples
+[options.entry_points]
+console_scripts =
+    hello_world = crazyflie_examples.hello_world:main
+    nice_hover = crazyflie_examples.nice_hover:main
+    figure8 = crazyflie_examples.figure8:main
+    cmd_full_state = crazyflie_examples.cmd_full_state:main
\ No newline at end of file
diff --git a/crazyflie_examples/setup.py b/crazyflie_examples/setup.py
deleted file mode 100644
index 71b4a20d6..000000000
--- a/crazyflie_examples/setup.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from setuptools import setup
-import os
-from glob import glob
-
-package_name = 'crazyflie_examples'
-
-setup(
-    name=package_name,
-    version='2.0.0',
-    packages=[package_name],
-    package_data={'package_name': ['data/*.csv']},
-    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')),
-        (os.path.join('share', package_name), glob('config/*')),
-        (os.path.join('share', package_name, 'data'), glob('data/*'))
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='Wolfgang Hönig, Kimberly McGuire',
-    maintainer_email='hoenig@tu-berlin.de',
-    description='Examples for Crayzswarm2 ROS stack',
-    license='MIT',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'hello_world = crazyflie_examples.hello_world:main',
-            'nice_hover = crazyflie_examples.nice_hover:main',
-            'figure8 = crazyflie_examples.figure8:main',
-            'cmd_full_state = crazyflie_examples.cmd_full_state:main',
-        ],
-    },
-)