rosmon finds underlay installed python scripts before considering scripts in overlay source

[xqms]

If a python package is installed in an underlay workspace, rosmon will find its nodes before considering source paths in overlay workspaces.

This is caused by this logic:

rosmon/rosmon_core/src/package_registry.cpp

Lines 99 to 116 in cd4611e

	// Try catkin libexec & catkin share first
	for(const auto& workspace : g_catkin_workspaces)
	{
	fs::path workspacePath(workspace);
	fs::path execPath = workspacePath / "lib" / package / name;
	if(fs::exists(execPath) && access(execPath.c_str(), X_OK) == 0)
	return execPath.string();
	std::string sharePath = getExecutableInPath(workspacePath / "share" / package, name);
	if(!sharePath.empty())
	return sharePath;
	}
	// Crawl package directory for an appropriate executable
	std::string packageDir = PackageRegistry::getPath(package);
	if(!packageDir.empty())
	return getExecutableInPath(packageDir, name);

roslaunch will correctly find the source path in the overlay workspace - so we will need to adapt the logic to however roslaunch is doing it.

@MariusBeul

[xqms]

roslaunch calls catkin to find executable files:

https://github.com/ros/catkin/blob/af1cdf271b11b8d55cf66b2ea91a8a30614ddaef/python/catkin/find_in_workspaces.py#L95

The horrible thing is that you have to crawl all paths in a workspace .catkin file, search for package.xml, parse it, and check whether it matches the package name:

https://github.com/ros-infrastructure/catkin_pkg/blob/a581ace9ddfac7de0a2dc57a743485ae2c04e2f6/src/catkin_pkg/packages.py#L119

Maybe there is some way around that?

[xqms]

Implemented a fix in #189.

It seems we don't have CI here anymore because of the ROS1 EOL (it was managed through the ROS build farm). I guess I will have to configure GitHub actions for this repo.