Squashed commits

10 files changed, 794 insertions, 0 deletions

diff --git a/.SRCINFO b/.SRCINFO
new file mode 100644
index 000000000000..ab67b5c27caf
--- /dev/null
+++ b/.SRCINFO
@@ -0,0 +1,27 @@
+pkgbase = ros-build-tools
+	pkgdesc = Utilities for building arch packages for ROS stacks.
+	pkgver = 0.0.1
+	pkgrel = 3
+	url = http://www.ros.org
+	arch = i686
+	arch = x86_64
+	license = BSD
+	source = fix-python-scripts.sh
+	source = stack-install-tools.sh
+	source = create-arch-ros-package-legacy.sh
+	source = PKGBUILD.rostemplate
+	source = get_stack_dependencies.py
+	source = generate_packages_makefile.py
+	source = generate-python-patch.sh
+	source = import_catkin_packages.py
+	md5sums = b2b4fd23abb8e9e7382ef9aeab2542f5
+	md5sums = 79ae7fb600e116623a42631d15d66a87
+	md5sums = ac82eca7efc9f0ff7e8b976a83692868
+	md5sums = f3378832c3ba121f7c9e17dc43c8b1d4
+	md5sums = d257f7f20384e894b0431ee61068aa96
+	md5sums = 563c9d1320a3a997db25d3087303dcfb
+	md5sums = 8d6d7eb89a12c449497b209f1a06655b
+	md5sums = 85fc98bd9df02afa0d8a27c01db78c66
+
+pkgname = ros-build-tools
+
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100644
index 000000000000..9e9addb1f47b
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,42 @@
+# Maintainer: Sean Greenslade <zootboysean@gmail.com>
+
+pkgdesc='Utilities for building arch packages for ROS stacks.'
+url=http://www.ros.org
+
+pkgname='ros-build-tools'
+pkgver='0.0.1'
+arch=('i686' 'x86_64')
+pkgrel=3
+license=('BSD')
+makedepends=()
+depends=()
+
+pkg_destination_dir="/usr/share/ros-build-tools"
+
+source=('fix-python-scripts.sh'
+    'stack-install-tools.sh'
+    'create-arch-ros-package-legacy.sh'
+    'PKGBUILD.rostemplate'
+    'get_stack_dependencies.py'
+    'generate_packages_makefile.py'
+    'generate-python-patch.sh'
+    'import_catkin_packages.py')
+
+build() {
+	return 0
+}
+package() {
+    mkdir -p ${pkgdir}${pkg_destination_dir}
+    for file in "${source[@]}"; do
+        cp $file ${pkgdir}${pkg_destination_dir}/$file
+    done
+}
+
+md5sums=('b2b4fd23abb8e9e7382ef9aeab2542f5'
+         '79ae7fb600e116623a42631d15d66a87'
+         'ac82eca7efc9f0ff7e8b976a83692868'
+         'f3378832c3ba121f7c9e17dc43c8b1d4'
+         'd257f7f20384e894b0431ee61068aa96'
+         '563c9d1320a3a997db25d3087303dcfb'
+         '8d6d7eb89a12c449497b209f1a06655b'
+         '85fc98bd9df02afa0d8a27c01db78c66')
diff --git a/PKGBUILD.rostemplate b/PKGBUILD.rostemplate
new file mode 100644
index 000000000000..7c0e9489dbbc
--- /dev/null
+++ b/PKGBUILD.rostemplate
@@ -0,0 +1,32 @@
+
+pkgdesc='Fill me.'
+url='http://www.ros.org/'
+
+pkgname='ros-groovy-@PACKAGE_NAME@'
+pkgver='@STACK_VERSION@'
+arch=('i686' 'x86_64')
+pkgrel=1
+license=('BSD')
+makedepends=('ros-build-tools')
+
+ros_depends(@ROS_STACK_DEPENDENCIES)
+depends=(${ros_depends[@]})
+
+source=("@STACK_URL@"
+        '@STACK_NAME@.patch')
+md5sums=('@STACK_MD5@' 
+         '@STACK_PATCH_MD5@')
+
+source /usr/share/ros-build-tools/stack-install-tools.sh
+source /opt/ros/@ROS_DISTRO@/setup.bash
+
+build() {
+  export ROS_PACKAGE_PATH=${srcdir}/stacks:$ROS_PACKAGE_PATH
+
+  mkdir -p ${srcdir}/stacks
+  [ -L ${srcdir}/stacks/@STACK_NAME@ ] || ln -sf ../@STACK_NAME@-${pkgver} ${srcdir}/stacks/@STACK_NAME@
+  cd $srcdir/stacks; patch -p0 -i "$srcdir/@STACK_NAME@.patch"
+  rosmake --no-rosdep -i @STACK_NAME@
+  install_ros_stack ${srcdir}/stacks/@STACK_NAME@ /opt/ros/@ROS_DISTRO@/stacks/@STACK_NAME@
+}
+
diff --git a/create-arch-ros-package-legacy.sh b/create-arch-ros-package-legacy.sh
new file mode 100755
index 000000000000..8dc73945d5f2
--- /dev/null
+++ b/create-arch-ros-package-legacy.sh
@@ -0,0 +1,62 @@
+#!/bin/bash
+
+set -e
+
+if [ -z "$3" ]; then
+    echo "Usage: $0 <distro> <stack> <version>"
+    exit 1
+fi
+
+DISTRO=$1
+STACK=$2
+PACKAGE=$(echo $STACK | sed 's/_/-/g')
+VERSION=$3
+URL=https://code.ros.org/svn/release/download/stacks/$STACK/$STACK-$VERSION/$STACK-$VERSION.tar.bz2
+
+PACKAGE_DIRECTORY=$(pwd)/$STACK
+
+if [ -d $PACKAGE_DIRECTORY ]; then
+    read -p "Directory $STACK already exists. Overwrite? (y/n) "
+    if ! [ "$REPLY" == "y" ]; then
+        exit 0
+    fi
+fi
+
+mkdir -p $PACKAGE_DIRECTORY
+cd $PACKAGE_DIRECTORY
+
+[ -f ${STACK}-${VERSION}.tar.bz2 ] || wget "$URL"
+if ! [ -f "${STACK}-${VERSION}.tar.bz2" ]; then
+    echo "Invalid stack name or version. Downloaded file does not match ${STACK}-${VERSION}.tar.bz2"
+    exit 1
+fi
+MD5=$(md5sum ${STACK}-${VERSION}.tar.bz2 | awk '{print $1}')
+
+cp /usr/share/ros-build-tools/PKGBUILD.rostemplate $PACKAGE_DIRECTORY/PKGBUILD
+
+mkdir $PACKAGE_DIRECTORY/tmp
+cd $PACKAGE_DIRECTORY/tmp
+tar xvjf $PACKAGE_DIRECTORY/${STACK}-${VERSION}.tar.bz2
+cp -r $PACKAGE_DIRECTORY/tmp/${STACK}-${VERSION} $PACKAGE_DIRECTORY/tmp/$STACK
+/usr/share/ros-build-tools/fix-python-scripts.sh $PACKAGE_DIRECTORY/tmp/$STACK
+diff -Naur ${STACK}-${VERSION} $STACK > $PACKAGE_DIRECTORY/$STACK.patch || true
+STACK_DEPENDENCIES=$(/usr/share/ros-build-tools/get-stack-dependencies.py $STACK/stack.xml \
+    | sed 's/_/-/g' | sed 's/^/ros-electric-/g' | sed 's/ / ros-electric-/g')
+cd $PACKAGE_DIRECTORY
+rm -r $PACKAGE_DIRECTORY/tmp
+
+PATCH_MD5=$(md5sum ${STACK}.patch | awk '{print $1}')
+
+sed -i "s/@PACKAGE_NAME@/$PACKAGE/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@STACK_NAME@/$STACK/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@STACK_VERSION@/$VERSION/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s?@STACK_URL@?$URL?g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@STACK_MD5@/$MD5/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@STACK_PATCH_MD5@/$PATCH_MD5/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@ROS_DISTRO@/$DISTRO/g" $PACKAGE_DIRECTORY/PKGBUILD
+sed -i "s/@ROS_STACK_DEPENDENCIES@/$STACK_DEPENDENCIES/g" $PACKAGE_DIRECTORY/PKGBUILD
+
+echo ""
+echo "PKGBUILD and patch created for stack $STACK."
+echo ""
+echo "Fill in dependencies and the stack description."
diff --git a/fix-python-scripts.sh b/fix-python-scripts.sh
new file mode 100755
index 000000000000..2bc55852b364
--- /dev/null
+++ b/fix-python-scripts.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+if [ -z "$1" ]; then
+    echo "Usage: $0 <directory>"
+    echo ""
+    echo "Makes sure that all python scripts use the python2 command"
+    exit 1
+fi
+
+for file in $(grep -rl 'env python *$' $1); do
+    if [ -z "$file" ]; then
+        echo "Error finding files."
+        exit 1
+    fi
+    sed -i 's/env python *$/env python2/g' $file
+done
+
diff --git a/generate-python-patch.sh b/generate-python-patch.sh
new file mode 100755
index 000000000000..b3c9f672802d
--- /dev/null
+++ b/generate-python-patch.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+set -e
+
+if [ -z "$1" ]; then
+    echo "Usage: $0 <stack-archive.tar.bz2>"
+    exit 1
+fi
+
+SCRIPT_DIR=$(readlink -f `dirname $0`)
+STACK_ARCHIVE_FILE_NAME=$(basename $1)
+STACK_ARCHIVE_DIR_NAME=$(readlink -f `dirname $1`)
+
+STACK_NAME=${1%.tar.bz2}
+TMP_DIRECTORY_NAME=$(mktemp -d /tmp/${STACK_NAME}.XXXXXXXXXX)
+cd $TMP_DIRECTORY_NAME
+tar xjf ${STACK_ARCHIVE_DIR_NAME}/${STACK_ARCHIVE_FILE_NAME}
+cp -r ${STACK_NAME} ${STACK_NAME}-orig
+$SCRIPT_DIR/fix-python-scripts.sh ${TMP_DIRECTORY_NAME}/${STACK_NAME}
+diff -Naur ${STACK_NAME}-orig ${STACK_NAME}
diff --git a/generate_packages_makefile.py b/generate_packages_makefile.py
new file mode 100755
index 000000000000..b43364ae34b7
--- /dev/null
+++ b/generate_packages_makefile.py
@@ -0,0 +1,130 @@
+#!/usr/bin/env python
+
+import os.path
+import subprocess
+import sys
+
+
+MAKEFILE_TARGET = """
+.PHONY : %(package)s
+%(package)s: %(package)s/%(output_file)s
+
+%(package)s/%(output_file)s: %(dependency_string)s
+\tcd %(package)s; makepkg -i
+"""
+
+
+class InvalidPackage(Exception):
+  def __init__(self, package):
+    self.package = package
+
+  def __str__(self):
+    return repr(self.package)
+
+
+class Dependency(object):
+
+  def __init__(self, directory_name, package_name, dependencies, output_file):
+    self.directory_name = directory_name
+    self.package_name = package_name
+    self.dependencies = dependencies
+    self.output_file = output_file
+
+
+class DependencyCache(object):
+
+  def __init__(self):
+    self._dependencies = {}
+
+  def add_package_directory(self, name):
+    pkgbuild_file = os.path.realpath(name + '/PKGBUILD')
+    if not os.path.exists(pkgbuild_file):
+      raise InvalidPackage(name)
+    aur_package_name = get_package_name(pkgbuild_file)
+    if len(aur_package_name) == 0:
+      raise InvalidPackage(name)
+    dependencies = get_dependencies(pkgbuild_file)
+    output_file = get_pkgbuild_output_file(pkgbuild_file)
+    self._dependencies[aur_package_name] = Dependency(
+      name, aur_package_name, dependencies, output_file)
+
+  def get_package_names(self):
+    return list(self._dependencies.keys())
+
+  def get_packages(self):
+    return list(self._dependencies.values())
+
+  def get_package(self, name):
+    return self._dependencies[name]
+
+  def get_package_directory_name(self, name):
+    return self._dependencies[name].directory_name
+
+  def get_dependencies(self, package_name, remove_unknown=True):
+    package_dependencies = self._dependencies.get(package_name)
+    if package_dependencies is None:
+      raise InvalidPackage(package_name)
+    if not remove_unknown:
+      return package_dependencies
+    return [self._dependencies[dependency] for dependency in package_dependencies.dependencies
+            if self._dependencies.get(dependency)]
+
+
+def get_pkgbuild_variable(pkgbuild, variable, is_array=False):
+  if is_array:
+    array_string = '[@]'
+  else:
+    array_string = ''
+  with subprocess.Popen(
+      'source %s && echo ${%s%s}' % (pkgbuild, variable, array_string),
+      shell=True, stdout=subprocess.PIPE) as shell_process:
+    if is_array:
+      return shell_process.stdout.readline().decode().split()
+    else:
+      return shell_process.stdout.readline().decode().strip()
+
+
+def get_pkgbuild_output_file(pkgbuild):
+  with subprocess.Popen(
+      'source %s && echo ${pkgname}-${pkgver}-${pkgrel}-${HOSTTYPE}.pkg.tar.xz' % (pkgbuild),
+      shell=True, stdout=subprocess.PIPE) as shell_process:
+    return shell_process.stdout.readline().decode().strip()
+
+
+def get_dependencies(pkgbuild):
+  return get_pkgbuild_variable(pkgbuild, 'depends', is_array=True)
+
+
+def get_package_name(pkgbuild):
+  return get_pkgbuild_variable(pkgbuild, 'pkgname')
+
+
+def generate_makefile(cache):
+  makefile = """
+all: %s
+""" % ' '.join(['%s/%s' % (package.directory_name, package.output_file)
+                for package in cache.get_packages()])
+
+  for package in cache.get_package_names():
+    dependency_string = ' '.join(['%s/%s' % (dependency.directory_name, dependency.output_file)
+                                  for dependency in cache.get_dependencies(package)])
+    makefile += MAKEFILE_TARGET % {'package': cache.get_package_directory_name(package),
+                                   'output_file': cache.get_package(package).output_file,
+                                   'dependency_string': dependency_string}
+  return makefile
+  
+  
+def main():
+  if len(sys.argv) < 2:
+    print('Usage: %s <AUR package>*' % sys.argv[0])
+    return 1
+
+  dependency_cache = DependencyCache()
+  for arg in sys.argv[1:]:
+    dependency_cache.add_package_directory(arg)
+
+  print(generate_makefile(dependency_cache))
+
+
+if __name__ == '__main__':
+  main()
diff --git a/get_stack_dependencies.py b/get_stack_dependencies.py
new file mode 100755
index 000000000000..8ad5b2fad816
--- /dev/null
+++ b/get_stack_dependencies.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# Copyright (c) 2012, Lorenz Moesenlechner <moesenle@in.tum.de>
+# 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 Intelligent Autonomous Systems Group/
+#       Technische Universitaet Muenchen 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.
+
+import xml.dom.minidom as minidom
+import sys
+
+
+def main():
+  if len(sys.argv) < 2:
+    print('Usage: %s <stack.xml>' % sys.argv[0])
+    return 1
+
+  top_level = minidom.parse(sys.argv[1])
+  if len(top_level.childNodes) != 1 or top_level.childNodes[0].nodeName != 'stack':
+    print('Invalid stack.xml. No <stack> node found on toplevel.')
+    return 1
+  stack = top_level.childNodes[0]
+  legacy_dependency_nodes = [n for n in stack.childNodes if n.nodeName == 'depend']
+  if legacy_dependency_nodes:
+    print(*[n.getAttribute('stack') for n in legacy_dependency_nodes],
+         sep=' ', end='')
+  else:
+    dependencies = [n.firstChild.wholeText for n in stack.childNodes
+                    if n.nodeName == 'depends']
+    print(*dependencies, sep=' ', end='')
+
+
+if __name__ == '__main__':
+  main()
diff --git a/import_catkin_packages.py b/import_catkin_packages.py
new file mode 100755
index 000000000000..e0a15f3d4f71
--- /dev/null
+++ b/import_catkin_packages.py
@@ -0,0 +1,353 @@
+#!/usr/bin/env python2
+
+
+from __future__ import print_function
+
+import catkin_pkg.package
+from optparse import OptionParser
+import os
+import os.path
+import subprocess
+import urllib2
+import urlparse
+import yaml
+
+
+class PackageBase(object):
+
+  def __init__(self, distro, repository_url, name, version):
+    self.packages = []
+    self.distro = distro
+    self.repository_url = repository_url
+    package = self._parse_package_file(
+      self._get_package_xml_url(repository_url, name, version))
+    self.name = package.name
+    self.version = package.version
+    self.licenses = package.licenses
+    self.description = package.description
+    self.dependencies = [self._ensure_python2_dependency(dependency.name)
+                         for dependency in package.build_depends + package.run_depends]
+    
+  def _parse_package_file(self, url):
+    """
+    Parses the package.xml file specified by `url`.
+    
+    Arguments:
+    - `url`: Valid URL pointing to a package.xml file.
+    """
+    return catkin_pkg.package.parse_package_string(
+      urllib2.urlopen(url).read())
+
+  def _get_ros_dependencies(self):
+    known_packages = self.distro.package_names(expand_metapackages=True)
+    return list(set(
+        [self._rosify_package_name(
+            'ros-%s-' % self.distro.name + dependency)
+         for dependency in self.dependencies if dependency in known_packages]))
+  
+  def _get_non_ros_dependencies(self):
+    known_packages = self.distro.package_names(expand_metapackages=True)
+    return list(set([dependency for dependency in self.dependencies
+                     if dependency not in known_packages]))
+
+  def _rosify_package_name(self, name):
+    return name.replace('_', '-')
+
+  def _ensure_python2_dependency(self, dependency):
+    return dependency.replace('python-', 'python2-')
+
+  def _get_package_xml_url(self, url, name, version):
+    if url.find('github'):
+      return github_raw_url(url, 'package.xml', 'release/%s/%s' % (name, version))
+    else:
+      raise 'Unable to generate url for package.xml'
+
+  def generate(self, exclude_dependencies=[]):
+    raise '`generate` not implemented.'
+
+
+class Package(PackageBase):
+  BUILD_TEMPLATE = """
+pkgdesc="%(description)s"
+url='http://www.ros.org/'
+
+pkgname='ros-%(distro)s-%(arch_package_name)s'
+pkgver='%(package_version)s'
+arch=('i686' 'x86_64')
+pkgrel=1
+license=('%(license)s')
+makedepends=('ros-build-tools')
+
+ros_depends=(%(ros_package_dependencies)s)
+depends=(${ros_depends[@]}
+  %(other_dependencies)s)
+
+source=()
+md5sums=()
+
+build() {
+  [ -f /opt/ros/%(distro)s/setup.bash ] && source /opt/ros/%(distro)s/setup.bash
+  if [ -d ${srcdir}/%(package_name)s ]; then
+    cd ${srcdir}/%(package_name)s
+    git fetch origin --tags
+    git reset --hard release/%(package_name)s/${pkgver}
+  else
+    git clone -b release/%(package_name)s/${pkgver} %(package_url)s ${srcdir}/%(package_name)s
+  fi
+  [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+  cd ${srcdir}/build
+  /usr/share/ros-build-tools/fix-python-scripts.sh ${srcdir}/%(package_name)s
+  cmake ${srcdir}/%(package_name)s -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/%(distro)s -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so -DSETUPTOOLS_DEB_LAYOUT=OFF
+  make
+}
+
+package() {
+  cd "${srcdir}/build"
+  make DESTDIR="${pkgdir}/" install
+}
+"""
+
+  def generate(self, exclude_dependencies=[]):
+    ros_dependencies = [dependency for dependency in self._get_ros_dependencies()
+                        if dependency not in exclude_dependencies]
+    other_dependencies = [dependency for dependency in self._get_non_ros_dependencies()
+                          if dependency not in exclude_dependencies]
+    return self.BUILD_TEMPLATE % {
+      'distro': self.distro.name,
+      'arch_package_name': self._rosify_package_name(self.name),
+      'package_name': self.name,
+      'package_version': self.version,
+      'package_url': self.repository_url,
+      'license': ', '.join(self.licenses),
+      'description': self.description.replace('"', '\\"').replace('`', '\`'),
+      'ros_package_dependencies': '\n  '.join(ros_dependencies),
+      'other_dependencies': '\n  '.join(other_dependencies)
+      }
+
+
+class MetaPackage(PackageBase):
+  BUILD_TEMPLATE = """
+pkgdesc="%(description)s"
+url='http://www.ros.org/'
+
+pkgname='ros-%(distro)s-%(arch_package_name)s'
+pkgver='%(package_version)s'
+arch=('i686' 'x86_64')
+pkgrel=1
+license=('%(license)s')
+makedepends=('ros-build-tools')
+
+ros_depends=(%(ros_package_dependencies)s)
+depends=(${ros_depends[@]}
+  %(other_dependencies)s)
+
+source=()
+md5sums=()
+
+"""
+  
+  def __init__(self, distro, repository_url, name, version):
+    super(MetaPackage, self).__init__(distro, repository_url, name, version)
+    self.packages = [Package(distro, repository_url, child_name, version)
+                     for child_name in distro.meta_package_package_names(name)]
+
+  def generate(self, exclude_dependencies=[]):
+    ros_dependencies = [dependency for dependency in self._get_ros_dependencies()
+                        if dependency not in exclude_dependencies]
+    other_dependencies = [dependency for dependency in self._get_non_ros_dependencies()
+                          if dependency not in exclude_dependencies]
+    return self.BUILD_TEMPLATE % {
+      'distro': self.distro.name,
+      'arch_package_name': self._rosify_package_name(self.name),
+      'package_name': self.name,
+      'package_version': self.version,
+      'license': ', '.join(self.licenses),
+      'description': self.description.replace('"', '\"'),
+      'ros_package_dependencies': '\n  '.join(ros_dependencies),
+      'other_dependencies': '\n  '.join(other_dependencies)
+      }
+
+  
+class DistroDescription(object):
+
+  def __init__(self, name, url):
+    stream = urllib2.urlopen(url)
+    self.name = name
+    self._distro = yaml.load(stream)
+    self._package_cache = {}
+    if self.name != self._distro['release-name']:
+      raise 'ROS distro names do not match (%s != %s)' % (self.name, self._distro['release-name'])
+
+  def package_names(self, expand_metapackages=False):
+    packages = [name for name in self._distro['repositories'].keys()]
+    if expand_metapackages:
+      return sum([([name] + self.meta_package_package_names(name)) if self._is_meta_package(name) else [name]
+                  for name in packages],
+                 [])
+    else:
+      return packages
+
+  def is_package(self, name):
+    return self._get_package_data(name) != None
+
+  def package(self, name):
+    package_data = self._get_package_data(name)
+    if not package_data:
+      raise 'Unable to find package `%s`' % name
+    if self._package_cache.get(name):
+      return self._package_cache[name]
+    url = package_data['url']
+    version = package_data['version'].split('-')[0]
+    if self._is_meta_package(name):
+      package = MetaPackage(self, url, name, version)
+    else:
+      package = Package(self, url, name, version)
+    self._package_cache[name] = package
+    return package
+
+  def meta_package_package_names(self, name):
+    return self._distro['repositories'][name]['packages'].keys()
+
+  def _is_meta_package(self, name):
+    if self._distro['repositories'].get(name):
+      return (self._distro['repositories'][name].get('packages') != None)
+
+  def _get_package_data(self, name):
+    """Searches for `name` in all known packages and metapackages."""
+    if self._distro['repositories'].get(name):
+      return self._distro['repositories'][name]
+    else:
+      for package in self.package_names():
+        if (self._is_meta_package(package)
+            and name in self._distro['repositories'][package]['packages']):
+          return self._distro['repositories'][package]
+
+
+def list_packages(distro_description):
+  print(*distro_description.package_names(), sep='\n')
+
+
+### From http://code.activestate.com/recipes/577058/ (r2)
+def query_yes_no(question, default="yes"):
+  """Ask a yes/no question via raw_input() and return their answer.
+  
+  "question" is a string that is presented to the user.
+  "default" is the presumed answer if the user just hits <Enter>.
+      It must be "yes" (the default), "no" or None (meaning
+      an answer is required of the user).
+
+  The "answer" return value is one of "yes" or "no".
+  """
+  valid = {"yes":"yes",   "y":"yes",  "ye":"yes",
+           "no":"no",     "n":"no"}
+  if default == None:
+      prompt = " [y/n] "
+  elif default == "yes":
+      prompt = " [Y/n] "
+  elif default == "no":
+      prompt = " [y/N] "
+  else:
+      raise ValueError("invalid default answer: '%s'" % default)
+  while True:
+      print(question + prompt)
+      choice = raw_input().lower()
+      if default is not None and choice == '':
+          return default
+      elif choice in valid.keys():
+          return valid[choice]
+      else:
+          print("Please respond with 'yes' or 'no' (or 'y' or 'n').")
+
+
+def github_raw_url(repo_url, path, commitish):
+  """
+  Returns the URL of the file blob corresponding to `path` in the
+  github repository `repo_url` in branch, commit or tag `commitish`.
+  """
+  url = urlparse.urlsplit(repo_url)
+  return 'https://raw.%(host)s%(repo_path)s/%(branch)s/%(path)s' % {
+    'host': url.hostname,
+    'repo_path': url.path.replace('.git', ''),
+    'branch': commitish,
+    'path': path
+    }
+
+
+def generate_pkgbuild(distro, package, directory, force=False,
+                      no_overwrite=False, recursive=False, exclude_dependencies=[],
+                      generated=None):
+  if generated is None:
+    generated = []
+  elif package.name in generated:
+    return
+  generated.append(package.name)  
+  if package.packages:
+    for child_package in package.packages:
+      generate_pkgbuild(distro, child_package, directory,
+                        force=force, exclude_dependencies=exclude_dependencies,
+                        no_overwrite=no_overwrite, recursive=recursive,
+                        generated=generated)
+  if recursive:
+    for dependency in package.dependencies:
+      if distro.is_package(dependency):
+        generate_pkgbuild(distro, distro.package(dependency), directory,
+                          force=force, no_overwrite=no_overwrite, recursive=recursive,
+                          exclude_dependencies=exclude_dependencies,
+                          generated=generated)
+  output_directory = os.path.join(directory, package.name)
+  if not os.path.exists(output_directory):
+    os.mkdir(output_directory)
+  if os.path.exists(os.path.join(output_directory, 'PKGBUILD')):
+    if no_overwrite:
+      return
+    if not force and not query_yes_no(
+      "Directory '%s' already contains a PKGBUILD file. Overwrite?" % (
+        output_directory)):
+      return
+  print('Generating PKGBUILD for package %s.' % package.name)
+  with open(os.path.join(output_directory, 'PKGBUILD'), 'w') as pkgbuild:
+    pkgbuild.write(package.generate(exclude_dependencies))
+
+
+def main():
+  parser = OptionParser(usage='usage: %prog [options] PACKAGE...')
+  parser.add_option('--distro', default='groovy', metavar='distro',
+                    help='Select the ROS distro to use.')
+  parser.add_option('--list-packages', dest='list_packages', action='store_true',
+                    default=False, help='Lists all available packages.')
+  parser.add_option('--output-directory', metavar='output_directory', default='.',
+                    help='The output directory. Packages are put into <output-directory>/<name>')
+  parser.add_option(
+    '--distro-url', metavar='distro_url',
+    default='https://raw.github.com/ros/rosdistro/master/releases/%s.yaml',
+    help='The URL of the distro description. %s is replaced by the actual distro name')
+  parser.add_option(
+    '--exclude-dependencies', metavar='exclude_dependencies',
+    default='python2-catkin-pkg,python2-rospkg,python2-rosdep',
+    help='Comma-separated list of (source) package dependencies to exclude from the generated PKGBUILD file.')
+  parser.add_option('-f', '--force', dest='force', action='store_true', default=False,
+                    help='Always overwrite exiting PKGBUILD files.')
+  parser.add_option('-n', '--no-overwrite', dest='no_overwrite', action='store_true', default=False,
+                    help='Do not overwrite PKGBUILD files.')
+  parser.add_option('--recursive', dest='recursive', action='store_true', default=False,
+                    help='Recursively import dependencies')
+  options, args = parser.parse_args()
+
+  distro = DistroDescription(
+    options.distro, url=options.distro_url % options.distro)
+  if options.list_packages:
+    list_packages(distro)
+    return
+  elif args:
+    for package in args:
+      generate_pkgbuild(distro, distro.package(package),
+                        os.path.abspath(options.output_directory),
+                        exclude_dependencies=options.exclude_dependencies.split(','),
+                        force=options.force, no_overwrite=options.no_overwrite,
+                        recursive=options.recursive)
+  else:
+    parser.error('No packages specified.')
+
+
+if __name__ == '__main__':
+  main()
diff --git a/stack-install-tools.sh b/stack-install-tools.sh
new file mode 100644
index 000000000000..1bbb4212f4d6
--- /dev/null
+++ b/stack-install-tools.sh
@@ -0,0 +1,56 @@
+# Copyright (c) 2012, Lorenz Moesenlechner <moesenle@in.tum.de>
+# 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 Intelligent Autonomous Systems Group/
+#       Technische Universitaet Muenchen 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.
+
+install_ros_stack() {
+  if [ -z "$1" ] || [ -z "$2" ]; then
+    echo "Usage: install_ros_stack <src-dir> <ros-dir>"
+    exit 1
+  fi
+  
+  mkdir -p $pkgdir/$2
+  cp -r $1/* $pkgdir/$2
+  find $pkgdir/$2 -name manifest.xml -printf '%h/build\n' | xargs rm -rf
+  fix_rpaths $1 $2
+}
+
+fix_rpaths() {
+  if [ -z "$1" ] || [ -z "$2" ]; then
+    echo "Usage: fix_rpaths <src-dir> <ros-dir>"
+    exit 1
+  fi
+
+  executables=$(find $pkgdir/$2 -type f -executable)
+  for file in $executables; do
+    rpath_output=$(chrpath -l $file 2>/dev/null || echo "")
+    if [ -n "$rpath_output" ] && echo $rpath_output | grep RPATH; then
+      fixed_rpath=$(echo $rpath_output | sed 's/.*RPATH=//g' | sed "s?$1?$2?g")
+      chrpath -r $fixed_rpath $file
+    fi
+  done
+}
+