def testPyrosROSCtx():
# start ros system , before PyrosROS process and Client otherwise Client assumes there is problem ( discovery timeout )
# we might need to load pyros_setup here...
try:
import pyros_utils
except ImportError:
# TODO : find a proper way to log from a test like here...
try:
#_logger.warning("loading pyros_setup and configuring your ROS environment")
import pyros_setup
# This will load the pyros_setup configuration from the environment
pyros_setup.configurable_import().configure().activate()
import pyros_utils
except ImportError:
# This is expected when testing pyros by itself
raise nose.SkipTest(
"pyros_utils could not be imported, and trying to import pyros_setup for dynamic ros setup failed."
)
master, roscore_proc = pyros_utils.get_master(
spawn=True) # we start the master if needed
assert master.is_online()
with pyros_ctx(node_impl=pyros_interfaces_ros.PyrosROS) as ctx:
assert isinstance(ctx.client, PyrosClient)
# TODO : assert the context manager does his job ( HOW ? )
if roscore_proc is not None:
roscore_proc.terminate()
while roscore_proc.is_alive():
time.sleep(0.2) # waiting for roscore to die
def pyros():
# IMPORTANT : Without pyros_setup configuration activated,
# the develop packages are set in sys.path AFTER the site-packages and dist-packages
# This is because of incompatibilities between ROS and python ways of handling PYTHONPATH.
# It is usually not a problem, unless :
# - you are working in a devel space with catkin_pip and expect to use a editable package from there
# - you have the same package installed somewhere else in the PYTHONPATH
# And in that case it might end up being *before* the source dir in sys.path
#
# => Without pyros_setup, the installed version will be preferred
# This is the python (and tools) way of working, since PYTHONPATH purpose is to override file-based setup,
# like editable packages.
#
# => With pyros_setup, the devel version will be preferred
# This is the ROS way of working, since PYTHONPATH order determine the order of folder when looking for a package.
#
# Both will work fine in most cases, but one might want to keep this corner case in mind...
# TODO : get rid of this. See https://github.com/asmodehn/catkin_pip/issues/106
print("sys.path before pyros_setup {pyros_setup.__file__} :\n{sys.path}".
format(**globals()))
# We need to pass the proper workspace here
pyros_setup.configurable_import().configure({
'WORKSPACES':
[devel_space()
], # This should be the same as pytest devel_space fixture
'DISTRO':
pyros_setup.DETECTED_DISTRO,
}).activate()
def testPyrosROSCtx():
# start ros system , before PyrosROS process and Client otherwise Client assumes there is problem ( discovery timeout )
# we might need to load pyros_setup here...
try:
import pyros_utils
except ImportError:
# TODO : find a proper way to log from a test like here...
try :
#_logger.warning("loading pyros_setup and configuring your ROS environment")
import pyros_setup
# This will load the pyros_setup configuration from the environment
pyros_setup.configurable_import().configure().activate()
import pyros_utils
except ImportError:
# This is expected when testing pyros by itself
raise nose.SkipTest("pyros_utils could not be imported, and trying to import pyros_setup for dynamic ros setup failed.")
master, roscore_proc = pyros_utils.get_master(spawn=True) # we start the master if needed
assert master.is_online()
with pyros_ctx(node_impl=pyros_interfaces_ros.PyrosROS) as ctx:
assert isinstance(ctx.client, PyrosClient)
# TODO : assert the context manager does his job ( HOW ? )
if roscore_proc is not None:
roscore_proc.terminate()
while roscore_proc.is_alive():
time.sleep(0.2) # waiting for roscore to die
def test_rospy_imported_config(setup, cmdopt):
rospy = None
try:
import rospy # this will fail (see setup())
except ImportError:
# Proper Way of handling Import Error with pyros-setup
# Careful this might mean the system installed one if you re not working in virtualenv
import pyros_setup
# no need to change package settings here, but we still need to call the configuration step for the import...
pyros_setup = pyros_setup.configurable_import()
# Loading instance configuration from default file
pyros_setup.configure()
if cmdopt:
# dynamically replacing the configured distro we got from default config
# with the one specified interactively for this test, if present.
pyros_setup.configure({"DISTRO": cmdopt})
# We need to allow this to fail if the instance configuration is not setup properly (no option),
# this way the user can debug and fix his configuration.
pyros_setup.activate() # you do the setup as expected by ROS
try:
# we now have access to all imported content (directly or through redirection _PyrosSetup class)
assert hasattr(pyros_setup, "configurable_import")
except ImportError:
assert False
import rospy
assert rospy is not None
def test_rospy_imported_config(setup, cmdopt):
rospy = None
try:
import rospy # this will fail (see setup())
except ImportError:
# Proper Way of handling Import Error with pyros-setup
# Careful this might mean the system installed one if you re not working in virtualenv
import pyros_setup
# no need to change package settings here, but we still need to call the configuration step for the import...
setup = pyros_setup.configurable_import()
# Loading instance configuration from default file
setup.configure()
if cmdopt:
# dynamically replacing the configured distro we got from default config
# with the one specified interactively for this test, if present.
setup.configure({'DISTRO': cmdopt})
# We need to allow this to fail if the instance configuration is not setup properly (no option),
# this way the user can debug and fix his configuration.
setup.activate() # you do the setup as expected by ROS
try:
# we now have access to all imported content (directly or through redirection _PyrosSetup class)
assert hasattr(pyros_setup, 'configurable_import')
except ImportError:
assert False
import rospy
assert rospy is not None
if __name__ == '__main__':
__name__ = 'optional_fields'
__package__ = 'pyros_schemas.ros'
import pyros_schemas.ros
try:
# To be able to run doctest directly we avoid relative import
import genpy
import rospy
except ImportError:
# Because we need to access Ros message types here (from ROS env or from virtualenv, or from somewhere else)
import pyros_setup
# We rely on default configuration to point us to the proper distro
pyros_setup.configurable_import().configure().activate()
import genpy
import rospy
# From here we can pick this up from ROS if missing in python env.
import inspect
import functools
import marshmallow.utils
from .basic_fields import RosNested, RosList
class RosOptAsList(RosList):
"""Any ros field, optional in deserialized (python dict) form. In Ros is it represented by a list of that field type, and can be empty.
:param kwargs: The same keyword arguments that :class:`List` receives. required is set to True by default.
try:
import rospy
import roslaunch
import rosgraph
import rosnode
except ImportError: # if ROS environment is not setup, we emulate it.
print("!!! Original import failed. Attempting Pyros-Setup...")
import pyros_setup
pyros_setup.configurable_import().configure('mysetup.cfg').activate() # this will use mysetup.cfg from pyros-setup instance folder
import rospy
import roslaunch
import rosgraph
import rosnode
print("rospy from: " + rospy.__file__)
print("roslaunch from: " + roslaunch.__file__)
print("rosgraph from: " + rosgraph.__file__)
print("rosnode from: " + rosnode.__file__)
#!/usr/bin/env python
import math
from pyparsing import *
from PyQt5.QtCore import pyqtSignal, QObject
try:
import rospy
from geometry_msgs.msg import Pose, Point, Quaternion
except ImportError:
import pyros_setup
pyros_setup.configurable_import().configure('myself.cfg').activate()
import rospy
from geometry_msgs.msg import Pose, Point, Quaternion
from pilz_robot_programming.robot import Robot
"""
Moving and robot program related functions are located here.
Robot code is in format :
PTP X111.111 Y111.111 Z111.111 qX qY qZ qW VSCALE RELATIVE
N1 PTP X120.21 Y7.213 Z0.0123 qx1.00230 qy0.00293 qz1 qw0 RELATIVE
N2 START_SQ
N342 SERVO 1 S160
N32 SET_FRAME prbt_base
N2 PTP J1:123.23 J2:12.221 J3:-231.321 J4:12.030 J5:95.33 J6:0.23 RELATIVE
N12 CIRC X0 Y0 Z0 iX0 iY0 iZ0
Where:
PTP = the movement type of the PTP, LIN CIRC
