def get_package_version(packagename):
rp = RosPack()
try:
manifest = rp.get_manifest(packagename)
return tuple(map(int,manifest.version.split('.')))
except ResourceNotFound:
return tuple()
def collect_plugins(root_scan_dir):
"""
Scan directories starting in the designated root to locate all
packages that depend on pluginlib. This will indirectly tell us
which packages potentially export plugins. Then we search for the
plugin manifest file and we parse it to obtain all the exported
plugin classes.
root_scan_dir indicates the starting point for the scan
returns the collected plugin classes
"""
rp = RosPack([root_scan_dir])
packages = rp.list()
debug_print("Found packages:\n")
#print packages
debug_print()
# Find all packages that depend on pluginlib and nodelet explicitely
pluginlib_users = rp.get_depends_on('pluginlib', implicit=False)
nodelet_users = rp.get_depends_on('nodelet', implicit=False)
image_transport_users = rp.get_depends_on('image_transport',
implicit=False)
# Concatenate both lists removing the duplicates
pluginlib_users += list(set(nodelet_users) - set(pluginlib_users))
pluginlib_users += list(set(image_transport_users) - set(pluginlib_users))
debug_print("Packages that depend on pluginlib:\n")
debug_print(pluginlib_users)
debug_print()
# Within the packages that require pluginlib, search all their
# dependencies for plugins
plugin_classes = []
for p in pluginlib_users:
path = rp.get_path(p)
debug_print(p + ": ")
debug_print(path)
exports = rp.get_manifest(p).exports
debug_print("Exports: ")
for e in exports:
s = e.get("plugin")
if s:
s2 = string.replace(s, "${prefix}", path)
debug_print(s2)
f = open(s2, 'r')
xml_str = f.read()
xml_str = escape_xml(xml_str)
plugin_classes += parse_plugin_xml(xml_str, p, path)
#plugin_classes += parse_plugin_xml(s2)
debug_print(plugin_classes)
f.close()
debug_print()
return plugin_classes
def collect_plugins(root_scan_dir):
"""
Scan directories starting in the designated root to locate all
packages that depend on pluginlib. This will indirectly tell us
which packages potentially export plugins. Then we search for the
plugin manifest file and we parse it to obtain all the exported
plugin classes.
root_scan_dir indicates the starting point for the scan
returns the collected plugin classes
"""
rp = RosPack([root_scan_dir])
packages = rp.list()
debug_print("Found packages:\n")
#print packages
debug_print()
# Find all packages that depend on pluginlib and nodelet explicitely
pluginlib_users = rp.get_depends_on('pluginlib', implicit=False)
nodelet_users = rp.get_depends_on('nodelet', implicit=False)
image_transport_users = rp.get_depends_on('image_transport', implicit=False)
# Concatenate both lists removing the duplicates
pluginlib_users += list(set(nodelet_users) - set(pluginlib_users))
pluginlib_users += list(set(image_transport_users) - set(pluginlib_users))
debug_print("Packages that depend on pluginlib:\n")
debug_print(pluginlib_users)
debug_print()
# Within the packages that require pluginlib, search all their
# dependencies for plugins
plugin_classes = []
for p in pluginlib_users:
path = rp.get_path(p)
debug_print(p + ": ")
debug_print(path)
exports = rp.get_manifest(p).exports
debug_print("Exports: ")
for e in exports:
s = e.get("plugin")
if s:
s2 = string.replace(s, "${prefix}", path)
debug_print(s2)
f = open(s2, 'r')
xml_str = f.read()
xml_str = escape_xml(xml_str)
plugin_classes += parse_plugin_xml(xml_str, p, path)
#plugin_classes += parse_plugin_xml(s2)
debug_print(plugin_classes)
f.close()
debug_print()
return plugin_classes
