def test_on_ros_path():
from rospkg import on_ros_path, get_ros_root, get_ros_package_path
from rospkg.environment import _resolve_paths
assert not on_ros_path(tempfile.gettempdir())
if get_ros_root() is not None:
assert on_ros_path(get_ros_root())
paths = _resolve_paths(get_ros_package_path()).split(os.pathsep)
for p in paths:
assert on_ros_path(p), "failed: %s, [%s]"%(p, paths)
def test_on_ros_path():
from rospkg import on_ros_path, get_ros_root, get_ros_package_path
from rospkg.environment import _resolve_paths
assert not on_ros_path(tempfile.gettempdir())
if get_ros_root() is not None:
assert on_ros_path(get_ros_root())
if get_ros_package_path() is not None:
paths = _resolve_paths(get_ros_package_path()).split(os.pathsep)
for p in paths:
assert on_ros_path(p), "failed: %s, [%s]" % (p, paths)
def roscreatepkg_main():
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog <package-name> [dependencies...]", prog=NAME)
options, args = parser.parse_args()
if not args:
parser.error("you must specify a package name and optionally also list package dependencies")
package = args[0]
if not roslib.names.is_legal_resource_base_name(package):
parser.error("illegal package name: %s\nNames must start with a letter and contain only alphanumeric characters\nand underscores."%package)
# validate dependencies and turn into XML
depends = args[1:]
uses_roscpp = 'roscpp' in depends
uses_rospy = 'rospy' in depends
rospack = RosPack()
for d in depends:
try:
rospack.get_path(d)
except ResourceNotFound:
print("ERROR: dependency [%s] cannot be found"%d, file=sys.stderr)
sys.exit(1)
depends = u''.join([u' <depend package="%s"/>\n'%d for d in depends])
if not on_ros_path(os.getcwd()):
print('!'*80+"\nWARNING: current working directory is not on ROS_PACKAGE_PATH!\nPlease update your ROS_PACKAGE_PATH environment variable.\n"+'!'*80, file=sys.stderr)
if type(package) == str:
package = package.decode('utf-8')
create_package(package, author_name(), depends, uses_roscpp=uses_roscpp, uses_rospy=uses_rospy)
def roscreatepkg_main():
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog <package-name> [dependencies...]", prog=NAME)
options, args = parser.parse_args()
if not args:
parser.error("you must specify a package name and optionally also list package dependencies")
package = args[0]
if not roslib.names.is_legal_resource_base_name(package):
parser.error("illegal package name: %s\nNames must start with a letter and contain only alphanumeric characters\nand underscores."%package)
# validate dependencies and turn into XML
depends = args[1:]
uses_roscpp = 'roscpp' in depends
uses_rospy = 'rospy' in depends
rospack = RosPack()
for d in depends:
try:
rospack.get_path(d)
except ResourceNotFound:
print("ERROR: dependency [%s] cannot be found"%d, file=sys.stderr)
sys.exit(1)
depends = u''.join([u' <depend package="%s"/>\n'%d for d in depends])
if not on_ros_path(os.getcwd()):
print('!'*80+"\nWARNING: current working directory is not on ROS_PACKAGE_PATH!\nPlease update your ROS_PACKAGE_PATH environment variable.\n"+'!'*80, file=sys.stderr)
if type(package) == str:
package = package.decode('utf-8')
create_package(package, author_name(), depends, uses_roscpp=uses_roscpp, uses_rospy=uses_rospy)
def parse_arguments(extra_depends=[], is_catkin=True):
"""
Parse the command line arguments - in format <package-name> [dependencies]".
This will need to upgrade from optparse to argparse post python 2.7
"""
parser = OptionParser(usage="usage: %prog <package-name> [dependencies...]")
options, args = parser.parse_args()
if not args:
parser.error("You must specify a package name and optionally also list package dependencies")
package = args[0]
if type(package) == str:
package = package.decode('utf-8')
depends = args[1:] + extra_depends
if not is_legal_resource_base_name(package):
parser.error("illegal package name [%s]\n\nNames must start with a letter and contain only alphanumeric characters\nand underscores."%package)
if os.path.exists(os.path.abspath(package)):
parser.error("%s already exists, aborting"%package)
print "Is_catkin? %r" % is_catkin
if is_catkin == True: # not able to handle dependency checking
print("WARNING: no ros environment found, skipping package and dependency checks\n")
else: # legacy rosbuild, try and handle dependencies
if not rospkg.get_ros_paths():
print("WARNING: no ros environment found, skipping package and dependency checks\n")
else:
rospack = rospkg.RosPack()
if package_already_exists(package, rospack):
parser.error("package already exists on the ROS_PACKAGE_PATH!")
if not rospkg.on_ros_path(package):
parser.error("current working directory is not on ROS_PACKAGE_PATH!\nPlease update your ROS_PACKAGE_PATH environment variable.\n")
if not dependencies_exist(depends, rospack):
parser.error("dependency [%s] cannot be found"%d)
return (package,depends)
def roscreatestack_main():
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog <path-to-stack>", prog=NAME)
parser.add_option("--show-deps",
dest="show_deps", default=False,
action="store_true",
help="show stack dependencies, instead of generating stack.xml")
options, args = parser.parse_args()
if not args:
parser.error("you must specify the path to a stack")
stack_dir = args[0]
stack = os.path.basename(os.path.abspath(stack_dir))
if not on_ros_path(stack_dir):
print("ERROR: roscreate-stack only work in directories in ROS_PACKAGE_PATH\nPlease update your ROS_PACKAGE_PATH environment variable.", file=sys.stderr)
sys.exit(1)
try:
depends, licenses = compute_stack_depends_and_licenses(stack_dir)
except rospkg.ResourceNotFound as e:
print("Cannot find resource: %s"%str(e), file=sys.stderr)
sys.exit(1)
# defaults
stack_manifest = None
author = "Maintained by %s"%author_name()
if not options.show_deps:
# Check for existing stack.xml
stack_xml_path = os.path.join(stack_dir, 'stack.xml')
if os.path.exists(stack_xml_path):
import shutil
stack_xml_path_bak = os.path.join(stack_dir, 'stack.xml.bak')
print('Backing up existing stack.xml to %s'%(stack_xml_path_bak))
shutil.copyfile(stack_xml_path, stack_xml_path_bak)
try:
# load existing stack.xml properties (soft fail if there are issues with existing file)
stack_manifest = rospkg.manifest.parse_manifest_file(stack_dir, rospkg.STACK_FILE)
author = stack_manifest.author
except:
pass
create_stack(stack, stack_dir, stack_manifest, author, depends, licenses, options.show_deps)
def roscreatepkg_main():
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog <package-name> [dependencies...]", prog=NAME)
options, args = parser.parse_args()
if not args:
parser.error("you must specify a package name and optionally also list package dependencies")
package = args[0]
###### BRSU EXTENSION ###############################################################
if (not package.startswith('raw_')) and (not package.startswith('brsu_')) and (not package.startswith('hbrs_')):
parser.error("illegal package name: %s\n\nPackage name must start either with 'raw_', 'brsu_' or 'hbrs_'"%package)
if not roslib.names.is_legal_resource_base_name(package):
parser.error("illegal package name: %s\n\nNames must start with a letter and contain only alphanumeric characters\nand underscores."%package)
# validate dependencies and turn into XML
depends = args[1:]
uses_roscpp = 'roscpp' in depends
uses_rospy = 'rospy' in depends
###### BRSU EXTENSION ###############################################################
depends.append("roscpp")
depends.append("sensor_msgs")
depends.append("std_srvs")
for d in depends:
try:
roslib.packages.get_pkg_dir(d)
except roslib.packages.InvalidROSPkgException:
print >> sys.stderr, "ERROR: dependency [%s] cannot be found"%d
sys.exit(1)
depends = u''.join([u' <depend package="%s"/>\n'%d for d in depends])
if not on_ros_path(os.getcwd()):
print >> sys.stderr, '!'*80+"\nWARNING: current working directory is not on ROS_PACKAGE_PATH!\nPlease update your ROS_PACKAGE_PATH environment variable.\n"+'!'*80
if type(package) == str:
package = package.decode('utf-8')
create_package(package, author_name(), depends, uses_roscpp=uses_roscpp, uses_rospy=uses_rospy)
try:
import rospkg
import os
if rospkg.on_ros_path(os.path.dirname(__file__)):
import roslib
roslib.load_manifest('object_recognition_core')
except ImportError:
pass
except Exception as e:
pass
try:
import rospkg
import os
if rospkg.on_ros_path(os.path.dirname(__file__)):
import roslib; roslib.load_manifest('object_recognition_core')
except ImportError:
pass
except Exception as e :
pass
