Remove venv from the Python preamble and adjust pip usage

docs/source/preamble/python/installing_python.rst

@@ -60,70 +60,17 @@ Some Python packages must be installed through :program:`apt`
 -------------------------------------------------------------
 
 .. warning::
-   Aside from these packages that you **MUST** install from :program:`apt`, it is best to use :program:`venv` and :program:`pip` to install packages only for your user
+   Aside from these packages that you **MUST** install from :program:`apt`, it is best to use :program:`pip` to install packages only for your user
    without using :code:`sudo`.
 
 For some Python packages to work well with the default Python in Ubuntu, they must be installed through :program:`apt`. If you deviate from this, you can cause issues that might not be easy to recover from.
 
-For the purposes of this tutorial, let us install :code:`pip` and :code:`venv`
+For the purposes of this tutorial, let us install :code:`pip`
 
 .. code-block:: console
 
    sudo apt update
-   sudo apt install -y python3-pip python3-venv
-
-.. _Isolate your environment with a venv:
-
-When you want to isolate your environment, use :program:`venv`
---------------------------------------------------------------
-
-.. warning::
-   At the time of this writing, there was no support for :program:`venv` on ROS2 `(More info) <https://github.com/ros2/ros2/issues/1094#issuecomment-897638520>`_.
-   Until that is handled, we are not going to use :program:`venv` for the ROS2 tutorials.
-   However, we will use :program:`venv` to protect our ROS2 environment from these Python preamble tutorials.
-
-Using :program:`venv` (`More info <https://docs.python.org/3.12/library/venv.html>`_) is quite straightforward.
-
-Create a :file:`venv`
-+++++++++++++++++++++
-
-.. code-block:: console
-
-   cd ~
-   python3 -m venv ros2tutorial_venv
-
-where the only argument, :code:`ros2tutorial_venv`, is the name of the folder in which the :code:`venv` will be created.
-
-Activate a :file:`venv`
-+++++++++++++++++++++++
-
-Whenever we want to use a :file:`venv`, it must be explicitly activated.
-
-.. code-block:: console
-
-   cd ~
-   source ros2tutorial_venv/bin/activate
-
-The terminal will change to have the prefix :code:`(ros2tutorial_venv)` to let us know that we are using a :file:`venv`, as follows
-
-.. code-block:: console
-
-   (ros2tutorial_venv) murilo@murilos-toaster:~$
-
-Deactivate a :file:`venv`
-+++++++++++++++++++++++++
-
-To deactivate, run
-
-.. code-block:: console
-
-   deactivate
-
-We'll know that we're no longer using the :code:`ros2tutorial_venv` because the prefix will disappear back to
-
-.. code-block:: console
-
-   murilo@murilos-toaster:~$
+   sudo apt install -y python3-pip
 
 Installing libraries
 --------------------
@@ -139,14 +86,7 @@ Installing libraries
 
 As an example, let us install the best robot modeling and control library ever conceived, `DQ Robotics <https://github.com/dqrobotics>`_.
 
-First, we activate the virtual environment
-
-.. code-block:: console
-
-   cd ~
-   source ros2tutorial_venv/bin/activate
-
-then, we install
+We install it with
 
 .. code-block:: console
 

docs/source/preamble/python/python_asyncio.rst

@@ -12,17 +12,6 @@ Python's :code:`asyncio`
 There are two main ways to interact with :code:`async` code, the first being by :code:`await`\ ing the results or by handling those
 results through :code:`callbacks`. Let's go through both of them with examples.
 
-Use a :code:`venv`
-------------------
-
-We already know that it is a good practice to :ref:`Isolate your environment with a venv`. So, let's turn that into a reflex
-and do so for this whole section.
-
-.. code-block:: console
-
-   cd ~
-   source ros2tutorial_venv/bin/activate
-
 Create the :file:`minimalist_async` package
 -------------------------------------------
 

docs/source/preamble/python/python_best_practices.rst

@@ -33,17 +33,6 @@ sources/tutorials you might find elsewhere. It is based on my interpretation of
      - A collection of modules.
      - A folder with an :file:`__init__.py`, even if it doesn't have more than one module. When people say `Python Packaging <https://packaging.python.org/en/latest/>`_ it refers instead to making your package installable (e.g. with a :file:`setup.py` or :file:`pyproject.toml`), so be ready for that ambiguity.
 
-Use a :code:`venv`
-------------------
-
-We already know that it is a good practice to :ref:`Isolate your environment with a venv`. So, let's turn that into a reflex
-and do so for this whole section.
-
-.. code-block:: console
-
-   cd ~
-   source ros2tutorial_venv/bin/activate
-
 .. _Python package:
 
 Minimalist package: something to start with

docs/source/preamble/python/python_packaging.rst

@@ -9,17 +9,6 @@ Making your Python package installable
    In :program:`ROS2`, currently we fully rely on :file:`setup.py` approach using setuptools therefore that's what I discuss herein.
 
 
-Use a :code:`venv`
-------------------
-
-We already know that it is a good practice to :ref:`Isolate your environment with a venv`. So, let's turn that into a reflex
-and do so for this whole section.
-
-.. code-block:: console
-
-   cd ~
-   source ros2tutorial_venv/bin/activate
-
 The :file:`setup.py`
 --------------------
 
@@ -77,11 +66,11 @@ Installing :file:`wheel`
       and the 'wheel' package is not installed. pip 23.1 will enforce this behaviour change. A possible replacement is to enable the '--use-pep517'
       option. Discussion can be found at https://github.com/pypa/pip/issues/8559
 
-To install the package in the recommended way in this tutorial, we need :file:`wheel`. While using the :code:`venv`, we install it
+To install the package in the recommended way in this tutorial, we need :file:`wheel`. We install it with
 
 .. code-block:: console
 
-   python3 -m pip install wheel
+   python3 -m pip install wheel --break-system-packages
 
 Installing the Python package
 -----------------------------
@@ -91,15 +80,15 @@ We first go to the folder containing our *project* folder and we build and insta
 .. code-block:: console
 
    cd ~/ros2_tutorials_preamble/python
-   python3 -m pip install ./minimalist_package
+   python3 -m pip install ./minimalist_package --break-system-packages
 
 which results in
 
 .. code-block:: console
 
    Processing ./minimalist_package
      Preparing metadata (setup.py) ... done
-   Requirement already satisfied: setuptools in ~ros2tutorial_venv/lib/python3.10/site-packages (from minimalist-package==23.6.0) (65.6.3)
+   Requirement already satisfied: setuptools in /home/murilo/.local/lib/python3.12/site-packages (from minimalist-package==23.6.0) (65.6.3)
    Building wheels for collected packages: minimalist-package
      Building wheel for minimalist-package (setup.py) ... done
      Created wheel for minimalist-package: filename=minimalist_package-23.6.0-py3-none-any.whl size=8608 sha256=929446a2fa81fc99fc5dec239a9f3e4439bc8fa8fe49cc4deb987d6f31b3d8b9
@@ -178,7 +167,7 @@ Given that we installed it using :program:`pip`, removing it is also a breeze. W
 
 .. code-block:: console
 
-   python3 -m pip uninstall minimalist_package
+   python3 -m pip uninstall minimalist_package --break-system-packages
 
 which will return something similar to
 
@@ -187,11 +176,11 @@ which will return something similar to
    Found existing installation: minimalist-package 23.6.0
    Uninstalling minimalist-package-23.6.0:
      Would remove:
-       /home/murilo/ros2tutorial_venv/bin/async_await_example
-       /home/murilo/ros2tutorial_venv/bin/async_callback_example
-       /home/murilo/ros2tutorial_venv/bin/minimalist_script
-       /home/murilo/ros2tutorial_venv/lib/python3.10/site-packages/minimalist_package-23.6.0.dist-info/*
-       /home/murilo/ros2tutorial_venv/lib/python3.10/site-packages/minimalist_package/*
+       /home/murilo/.local/bin/async_await_example
+       /home/murilo/.local/bin/async_callback_example
+       /home/murilo/.local/bin/minimalist_script
+       /home/murilo/.local/lib/python3.12/site-packages/minimalist_package-23.6.0.dist-info/*
+       /home/murilo/.local/lib/python3.12/site-packages/minimalist_package/*
    Proceed (Y/n)?
 
 and just press :kbd:`ENTER`, resulting in the package being uninstalled

docs/source/source_after_build.rst

@@ -106,8 +106,7 @@ Fixing a dirty state in your :program:`colcon build`
 
 Sometimes, a problematic build might not go away even with repeated calls to :program:`colcon build`.
 
-The most common cause of this is when, by mistake, a terminal with an active :program:`venv` was used when calling
-:program:`colcon build`. The usual error message will look like so.
+A common error message will look like so.
 
 .. code-block:: console
 
@@ -118,9 +117,8 @@ The most common cause of this is when, by mistake, a terminal with an active :pr
 
 To fix this, you must
 
-#. Deactivate the :program:`venv`.
 #. Remove the :file:`build`, :file:`install`, and :file:`log` folders.
-#. Rebuild and re-source in a clean terminal, without a :program:`venv`.
+#. Rebuild and re-source in a clean terminal.
 
 In this tutorial, this would be equivalent to doing
 
@@ -131,13 +129,12 @@ In this tutorial, this would be equivalent to doing
 
 .. code-block:: console
 
-    deactivate
     cd ~/ros2_tutorial_workspace
     rm -rf build/ install/ log/
     colcon build
     source install/setup.bash
 
-In rare cases, even without using a :program:`venv`, the workspace can be left in an unclean state in which older build
+In rare cases, the workspace can be left in an unclean state in which older build
 artifacts cause build and runtime issues, such as failed builds and programs that do not seem to match their intended source code.
 These artifacts might include old files that should have been removed, issues with dependencies, and so on.
 In this case, removing the :file:`build`, :file:`install`, and :file:`log` folders can be useful.

docs/source/the_canonical_build_command.rst

@@ -7,7 +7,3 @@
 .. note::
 
    For additional explanation and troubleshooting tips, see :ref:`Always source after you build`.
-
-.. warning::
-
-    :program:`colcon` will *not* work properly if your terminal has an active :program:`venv`.