def generate_schemas_from_all(output_directory=""):
"""
Generates schemas from all ROS message types found in your ROS package paths
Args:
output_directory: Directory to output .h and .cpp files
Returns:
schemas: A list of strings which are the contents of the .h and .cpp files to write to the system.
"""
templates = []
pkg_paths = get_rospkg_paths()
for pkg, pkg_path in pkg_paths.iteritems():
if (pkg in GLOBAL_WHITELIST) or (pkg not in GLOBAL_BLACKLIST):
types = rosmsg._list_types(pkg_path[0], "msg", ".msg")
print types
for t in types:
if (t in GLOBAL_WHITELIST) and (t not in GLOBAL_BLACKLIST):
full_type = pkg + "/" + t
GLOBAL_TYPES_LIST.append(full_type)
load_all_subtypes(GLOBAL_TYPES_LIST)
print "Total number of types (recursively) used in system: %d" % len(GLOBAL_TYPES_LIST)
return generate_schemas(GLOBAL_TYPES_LIST, output_directory)
def get_ros1_services(rospack=None):
if not rospack:
rospack = rospkg.RosPack()
srvs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_SRV))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'srv', rosmsg.MODE_SRV):
srvs.append(Message(package_name, message_name, path))
return srvs
def get_ros1_messages(rospack=None):
if not rospack:
rospack = rospkg.RosPack()
msgs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_MSG))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'msg', rosmsg.MODE_MSG):
msgs.append(Message(package_name, message_name, path))
return msgs
def get_ros1_services(rospack=None):
if not rospack:
rospack = rospkg.RosPack()
srvs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_SRV))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'srv', rosmsg.MODE_SRV):
srvs.append(Message(package_name, message_name, path))
return srvs
def get_ros1_messages(rospack=None):
if not rospack:
rospack = rospkg.RosPack()
msgs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_MSG))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'msg', rosmsg.MODE_MSG):
msgs.append(Message(package_name, message_name, path))
return msgs
