Activate ROS on Windows when conda runs in Git Bash / MSYS2 / Cygwin

.github/workflows/ci.yml

@@ -34,3 +34,16 @@ jobs:
 
     - name: Run tests
       run: pixi run test
+
+    - name: Install Windows ROS activation test environment
+      if: runner.os == 'Windows'
+      run: >-
+        pixi exec --spec conda -- conda env create --yes
+        --prefix "${{ runner.temp }}/vinca-ros-activation"
+        --file tests/windows/environment.yml
+
+    - name: Test ROS activation with conda and Git Bash
+      if: runner.os == 'Windows'
+      env:
+        VINCA_WINDOWS_ROS_PREFIX: ${{ runner.temp }}/vinca-ros-activation
+      run: pixi run pytest -v vinca/test_windows_activation.py

tests/windows/README.md

@@ -0,0 +1,24 @@
+The Windows CI job installs `environment.yml` into a disposable conda environment
+and runs `vinca/test_windows_activation.py` using Git for Windows Bash. The test
+renders and installs the PR's hooks, then activates the environment through real
+conda. It checks the conda-build guard, ROS variables, native Python's ament index
+lookup, repeated activation, and deactivation. It restores the installed hooks
+afterward. An additional package with real `.dsv` hooks exercises PATH prepends,
+appends and assignments, PYTHONPATH prepends, a CMAKE_PREFIX_PATH append, and paths
+containing spaces. The assignment case replaces the inherited PATH with an
+explicit Windows path list and checks its exact contents and order.
+
+To reproduce in PowerShell from the repository root:
+
+```powershell
+pixi exec --spec conda -- conda env create --yes --prefix "$PWD/.pixi/ros-activation" --file tests/windows/environment.yml
+$env:VINCA_WINDOWS_ROS_PREFIX = "$PWD/.pixi/ros-activation"
+pixi run pytest -v vinca/test_windows_activation.py
+```
+
+The integration test skips unless `VINCA_WINDOWS_ROS_PREFIX` is set, and skips on
+non-Windows platforms. Once a prefix is supplied, missing dependencies or Git Bash
+fail the test rather than skipping it. Use a disposable environment: the test
+temporarily replaces its ros_workspace activation hooks.
+
+This test does not run a full rclcpp CMake build.

tests/windows/environment.yml

@@ -0,0 +1,11 @@
+name: vinca-ros-activation
+channels:
+  - robostack-jazzy
+  - conda-forge
+  - nodefaults
+dependencies:
+  - python=3.12
+  - conda
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros-environment
+  - ros-jazzy-ament-index-python

vinca/templates/activate.sh.in

@@ -4,23 +4,92 @@
 #     exit 0;
 # fi
 
-# Not sure if this is necessary on UNIX?
-# export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
+case "$OSTYPE" in
+  msys*|cygwin*)
+    # Windows: conda runs this script (not activate.bat) when the environment
+    # is activated from Git Bash / MSYS2 / Cygwin. The ROS packages only ship
+    # .bat/.dsv environment hooks there (under %CONDA_PREFIX%\Library), so do
+    # what activate.bat -> local_setup.bat does: let ament's
+    # _local_setup_util.py evaluate every package's .dsv hooks, in "sh" mode,
+    # and apply the result. Values stay in Windows form (C:\...;C:\...) since
+    # native Windows programs (python, cmake, ros2) read them; only PATH is
+    # converted to the form the shell itself uses.
+    if [ -n "${SYS_PREFIX:-}" ]; then
+      # Don't do anything when we are in conda build (as activate.bat).
+      :
+    elif ! command -v cygpath > /dev/null 2>&1; then
+      echo "Not activating ROS: cygpath not found" >&2
+    else
+      # Keep an absolute path: a .dsv assignment may remove cygpath from PATH.
+      _ros_cygpath="$(command -v cygpath)"
+      _ros_prefix_w="$(cygpath -w "$CONDA_PREFIX")"
+      _ros_python="$(cygpath -u "$_ros_prefix_w\\python.exe")"
+      _ros_util="$(cygpath -u "$_ros_prefix_w\\Library\\_local_setup_util.py")"
 
-if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
-    # ignore sourcing
-    echo "Not activating ROS when cross-compiling";
-else
-    source $CONDA_PREFIX/setup.sh
-fi
+      export QT_PLUGIN_PATH="$_ros_prefix_w\\Library\\plugins"
+      unset PYTHONHOME
 
-case "$OSTYPE" in
-  darwin*)  export ROS_OS_OVERRIDE="conda:osx";;
-  linux*)   export ROS_OS_OVERRIDE="conda:linux";;
-esac
+      if [ -f "$_ros_util" ]; then
+        while IFS= read -r _ros_line; do
+          case "$_ros_line" in
+            "export "*"#:}")
+              # strip a leading separator: ';' on Windows, not ':'
+              _ros_line="${_ros_line%#:\}}#;}"
+              ;;
+            "export "*"%:}")
+              # strip a trailing separator: ';' on Windows, not ':'
+              _ros_line="${_ros_line%\%:\}}%;}"
+              ;;
+          esac
+          case "$_ros_line" in
+            "export PATH="*)
+              # ament emits Windows lists even in sh mode. Evaluate against a
+              # Windows PATH in a subshell, then convert the complete result.
+              # This handles prepends, appends and assignments without mixing
+              # semicolons, drive-letter colons and Bash's ':' separators.
+              _ros_value="$(
+                PATH="$("$_ros_cygpath" -w -p "$PATH")"
+                eval "$_ros_line"
+                printf '%s' "$PATH"
+              )"
+              export PATH="$("$_ros_cygpath" -u -p "$_ros_value")"
+              ;;
+            "export "*)
+              eval "$_ros_line"
+              ;;
+          esac
+        done <<EOF
+$("$_ros_python" "$_ros_util" sh | tr -d '\r')
+EOF
+      fi
+
+      export ROS_OS_OVERRIDE="conda:win64"
+      export ROS_ETC_DIR="$_ros_prefix_w\\Library\\etc\\ros"
+      export AMENT_PREFIX_PATH="$_ros_prefix_w\\Library"
+      export AMENT_PYTHON_EXECUTABLE="$_ros_prefix_w\\python.exe"
+      unset _ros_prefix_w _ros_python _ros_util _ros_line _ros_value _ros_cygpath
+    fi
+    ;;
+  *)
+    # Not sure if this is necessary on UNIX?
+    # export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
 
-export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
-export AMENT_PREFIX_PATH=$CONDA_PREFIX
+    if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
+        # ignore sourcing
+        echo "Not activating ROS when cross-compiling";
+    else
+        source $CONDA_PREFIX/setup.sh
+    fi
 
-# Looks unnecessary for UNIX
-# unset PYTHONHOME=
+    case "$OSTYPE" in
+      darwin*)  export ROS_OS_OVERRIDE="conda:osx";;
+      linux*)   export ROS_OS_OVERRIDE="conda:linux";;
+    esac
+
+    export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+    export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
+    # Looks unnecessary for UNIX
+    # unset PYTHONHOME=
+    ;;
+esac

vinca/templates/bld_catkin.bat.in

@@ -72,9 +72,11 @@ if "%PKG_NAME%" == "@(ros_package_prefix)-catkin" (
 if "%PKG_NAME%" == "@(ros_package_prefix)-ros-workspace" (
     :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
     :: This will allow them to be run on environment activation.
+    :: The .sh scripts are what conda runs in Git Bash / MSYS2 / Cygwin.
     for %%F in (activate deactivate) DO (
         if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
         copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
         copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+        copy %RECIPE_DIR%\%%F.sh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.sh
     )
 )

vinca/templates/deactivate.sh.in

@@ -19,3 +19,14 @@ unset ROS_OS_OVERRIDE
 unset ROS_LOCALHOST_ONLY
 unset ament_python_executable
 unset RMW_IMPLEMENTATION
+
+case "$OSTYPE" in
+  msys*|cygwin*)
+    # Windows (Git Bash / MSYS2 / Cygwin): also undo what activate.sh sets
+    # there, as deactivate.bat does.
+    unset PYTHONHOME
+    unset PYTHONPATH
+    unset QT_PLUGIN_PATH
+    unset AMENT_PYTHON_EXECUTABLE
+    ;;
+esac