Export armarx bin dir to PATH

armarx_setup/core/module/install.py

 import os
 import dataclasses as dc
 
-from typing import Optional
+from typing import Dict, Optional
 
+from armarx_setup.core import error
 from armarx_setup.core.module.context import Hook
-from armarx_setup.core.util import cli, commands, environ_context as env_ctx
+from armarx_setup.core.util import commands, environ_context as env_ctx
 
 
 from armarx_setup import console
 
 
-@dc.dataclass
-class Install(Hook):
+class CMake(Hook):
+
+    def install(self):
+        build_dir = self.ctx.build_dir
+        if not os.path.isdir(build_dir):
+            raise IOError(f"Build directory '{build_dir}' does not exist.")
+
+        with env_ctx.EnvironContext(self.ctx.env, verbose=self.ctx.verbose):
+            commands.run("cmake --install . ", cwd=build_dir)
+
 
-    class CMake(Hook):
+class Env(Hook):
 
-        def install(self):
-            build_dir = self.ctx.build_dir
-            if not os.path.isdir(build_dir):
-                raise IOError(f"Build directory '{build_dir}' does not exist.")
+    def __init__(self, ctx=None, **kwargs):
+        super().__init__(ctx=ctx)
 
-            with env_ctx.EnvironContext(self.ctx.env, verbose=self.ctx.verbose):
-                commands.run("cmake --install . ", cwd=build_dir)
+        self.env: Dict[str, str] = kwargs
+        for k, v in self.env.items():
+            if not (isinstance(k, str) and isinstance(v, str)):
+                raise error.ArmarXSetupError(f"Invalid env entry: '{k}': '{v}'")
+
+    def install(self):
+        for k, v in self.env.items():
+            self.ctx.module.ws.env_file.add(k, v, write=False)
+        self.ctx.module.ws.env_file.write()
+
+
+@dc.dataclass
+class Install(Hook):
 
     cmake: Optional[CMake] = None
+    env: Optional[Env] = None
 
     def __post_init__(self):
         from armarx_setup.core.util.dataclass import sanitize_type
-        self.cmake = sanitize_type(self.cmake, self.CMake, ctx=self.ctx)
+        self.cmake = sanitize_type(self.cmake, CMake, ctx=self.ctx)
+        self.env = sanitize_type(self.env, Env, ctx=self.ctx)
 
     def __call__(self, *args, **kwargs):
-        if self.cmake is not None:
-            self.cmake.install()
-        else:
-            raise TypeError("No install step configured.")
+        for step in [self.cmake, self.env]:
+            if step is not None:
+                step.install()
 

armarx_setup/core/workspace/workspace.py

@@ -29,6 +29,7 @@ class Workspace:
         self.config = config or Config()
 
         self.env_file = EnvFile(ws_path=self.path)
+        self.env_file.add(ARMARX_WORKSPACE_ENV_VAR, path)
 
         self._module_graph: Optional[ModuleGraph] = None
 

data/modules/armarx/ArmarXCore.json

@@ -17,6 +17,13 @@
   },
   "build": "cmake",
 
+  "install": {
+    "env": {
+      "PATH": "$ArmarXCore_DIR/bin/:$PATH"
+    }
+  },
+
+
   "required_modules": {
     "apt/ice": {},
     "apt/jsoncpp": {},