def test_unknown_resource():
set_ament_prefix_path(['prefix1'])
exists = has_resource('resource_type4', 'bar')
assert not exists, 'Resource should not exist'
with pytest.raises(LookupError):
get_resource('resource_type4', 'bar')
def test_unknown_resource():
set_ament_prefix_path(['prefix1'])
exists = has_resource('resource_type4', 'bar')
assert not exists, 'Resource should not exist'
try:
get_resource('resource_type4', 'bar')
assert False, 'get_resource() failed to raise exception'
except LookupError:
pass
except Exception as e:
assert False, 'get_resource() raised wrong exception: ' + type(e)
def test_unknown_resource():
set_ament_prefix_path(['prefix1'])
exists = has_resource('resource_type4', 'bar')
assert not exists, 'Resource should not exist'
try:
get_resource('resource_type4', 'bar')
assert False, 'get_resource() failed to raise exception'
except LookupError:
pass
except Exception as e:
assert False, 'get_resource() raised wrong exception: ' + type(e)
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name',
'ros2_message_name')):
try:
rules.append(ServiceMappingRule(
data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name', 'ros2_message_name')):
try:
rules.append(ServiceMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def __init__(self, min_val, max_val):
super(DoubleEditor, self).__init__()
# Preconditions
assert min_val < max_val
# Cache values
self._min_val = min_val
self._max_val = max_val
# Load editor UI
_, package_path = get_resource('packages',
'rqt_joint_trajectory_controller')
ui_file = os.path.join(package_path, 'share',
'rqt_joint_trajectory_controller', 'resource',
'double_editor.ui')
loadUi(ui_file, self)
# Setup widget ranges and slider scale factor
self.slider.setRange(0, 100)
self.slider.setSingleStep(1)
self._scale = (max_val - min_val) / \
(self.slider.maximum() - self.slider.minimum())
self.spin_box.setRange(min_val, max_val)
self.spin_box.setSingleStep(self._scale)
# Couple slider and spin box together
self.slider.valueChanged.connect(self._on_slider_changed)
self.spin_box.valueChanged.connect(self._on_spinbox_changed)
# Ensure initial sync of slider and spin box
self._on_spinbox_changed()
def import_type_support(pkg_name, rmw_implementation):
"""
Import the appropriate type support module of a package for a given rmw implementation.
This function will determine the correct type support module to import based on the rmw
implementation given.
This module will provide the c type support of the given rmw implementation for the rosidl
files in the specified package, such that the ROS message structures in the package can be
converted to and from message structures used by the rmw implementation.
:param pkg_name str: name of the package
:param rmw_implementation str: name of the rmw implementation
:returns: the type support Python module for the specified package and rmw implementation pair
"""
if not ament_index_python.has_resource('rmw_typesupport_c',
rmw_implementation):
raise UnsupportedTypeSupport(rmw_implementation)
type_support_name, _ = ament_index_python.get_resource(
'rmw_typesupport_c', rmw_implementation)
import_package = '{pkg_name}'.format(pkg_name=pkg_name, )
module_name = '.{pkg_name}_s__{type_support_name}'.format(
pkg_name=pkg_name,
type_support_name=type_support_name,
)
return importlib.import_module(module_name, package=import_package)
def import_type_support(pkg_name, rmw_implementation):
"""
Import the appropriate type support module of a package for a given rmw implementation.
This function will determine the correct type support module to import based on the rmw
implementation given.
This module will provide the c type support of the given rmw implementation for the rosidl
files in the specified package, such that the ROS message structures in the package can be
converted to and from message structures used by the rmw implementation.
:param pkg_name str: name of the package
:param rmw_implementation str: name of the rmw implementation
:returns: the type support Python module for the specified package and rmw implementation pair
"""
if not ament_index_python.has_resource('rmw_typesupport_c', rmw_implementation):
raise UnsupportedTypeSupport(rmw_implementation)
type_support_name = ament_index_python.get_resource('rmw_typesupport_c', rmw_implementation)
import_package = '{pkg_name}'.format(
pkg_name=pkg_name,
)
module_name = '.{pkg_name}_s__{type_support_name}'.format(
pkg_name=pkg_name,
type_support_name=type_support_name,
)
return importlib.import_module(module_name, package=import_package)
def test_resource():
set_ament_prefix_path(['prefix1'])
exists = has_resource('resource_type4', 'foo')
assert exists, 'Resource should exist'
resource = get_resource('resource_type4', 'foo')
assert resource == 'foo', 'Expected different content'
def main(self, *, args): # noqa: D102
# the following is the resource index which is created when installing a pluginlib xml file
if args.plugin_type == 'storage':
pluginlib_resource_index = 'rosbag2_storage__pluginlib__plugin'
else:
pluginlib_resource_index = 'rosbag2_cpp__pluginlib__plugin'
resources = get_resources(pluginlib_resource_index)
if args.verbose:
print('available %s plugins are:' % args.plugin_type)
for resource in resources:
plugin_xml_file_paths, base_folder = get_resource(
pluginlib_resource_index, resource)
for file_path in list(
filter(None, plugin_xml_file_paths.split('\n'))):
abs_path = os.path.join(base_folder, file_path)
if not os.path.exists(abs_path):
return 'path does not exist: %s' % abs_path
xmldoc = minidom.parse(abs_path)
class_item = xmldoc.getElementsByTagName('class')[0]
class_name = class_item.attributes['name']
type_name = class_item.attributes['type']
base_class_name = class_item.attributes['base_class_type']
description = xmldoc.getElementsByTagName('description')[0]
print('%s%s' %
(('name: ' if args.verbose else ''), class_name.value))
if args.verbose:
print('\t%s' % description.childNodes[0].data)
print('\ttype: %s' % type_name.value)
print('\tbase_class: %s' % base_class_name.value)
def import_type_support(pkg_name, subfolder, rosidl_name, rmw_implementation):
"""Import the appropriate type support module for a given rosidl and rmw implementation.
This function will determine the correct type support package to import
from based on the rmw implementation given.
For example, giving `opensplice_static` as the rmw implementation would
result in the `rosidl_typesupport_opensplice_c` type support package being
used when importing.
:param pkg_name str: name of the package which contains the rosidl
:param subfolder str: name of the rosidl containing folder, e.g. `msg`, `srv`, etc.
:param rosidl_name str: name of the rosidl
:param rmw_implementation str: name of the rmw implementation
:returns: the type support Python module for this specific rosidl and rmw implementation pair
"""
if not ament_index_python.has_resource('rmw_typesupport_c', rmw_implementation):
raise UnsupportedTypeSupport(rmw_implementation)
type_support_name = ament_index_python.get_resource('rmw_typesupport_c', rmw_implementation)
import_package = '{pkg_name}'.format(
pkg_name=pkg_name,
)
module_name = '.{pkg_name}_s__{type_support_name}'.format(
pkg_name=pkg_name,
type_support_name=type_support_name,
)
return importlib.import_module(module_name, package=import_package)
def get_rmw_output_filter(rmw_implementation):
prefix_with_resource = ament_index_python.has_resource(
'rmw_output_filter', rmw_implementation)
if not prefix_with_resource:
return []
rmw_output_filter = ament_index_python.get_resource('rmw_output_filter', rmw_implementation)
additional_filtered_prefixes = [
str.encode(l) for l in rmw_output_filter.splitlines()]
return additional_filtered_prefixes
def get_message_types(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package name')
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(dirk-thomas) this logic should come from a rosidl related package
return [n[:-4] for n in interface_names if n.endswith('.msg')]
def get_interface(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package {}'.format(package_name))
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
return list(
sorted({n.rsplit('.', 1)[0]
for n in interface_names if '_' not in n}))
def get_package_component_types(*, package_name=None):
"""
Get all component types registered in the ament index for the given package.
:param package_name: whose component types are to be retrieved.
:return: a list of component type names.
"""
if not has_resource(COMPONENTS_RESOURCE_TYPE, package_name):
return []
component_registry, _ = get_resource(COMPONENTS_RESOURCE_TYPE, package_name)
return [line.split(';')[0] for line in component_registry.splitlines()]
def _get_rosidl_class_helper(message_type, mode, logger=None): # noqa: C901
"""
A helper function for common logic to be used by get_message_class and get_service_class.
:param message_type: name of the message or service class in the form
'package_name/MessageName' or 'package_name/msg/MessageName'
:type message_type: str
:param mode: one of MSG_MODE, SRV_MODE or ACTION_MODE
:type mode: str
:param logger: The logger to be used for warnings and info
:type logger: either rclpy.impl.rcutils_logger.RcutilsLogger or None
:returns: The message or service class or None
"""
if logger is None:
logger = logging.get_logger('_get_message_service_class_helper')
if mode not in ROSIDL_FILTERS.keys():
logger.warn('invalid mode {}'.format(mode))
return None
message_info = message_type.split('/')
if len(message_info) not in (2, 3):
logger.error('Malformed message_type: {}'.format(message_type))
return None
if len(message_info) == 3 and message_info[1] != mode:
logger.error('Malformed {} message_type: {}'.format(mode, message_type))
return None
package = message_info[0]
base_type = message_info[-1]
try:
_, resource_path = get_resource('rosidl_interfaces', package)
except LookupError:
return None
python_pkg = None
class_val = None
try:
# import the package
python_pkg = importlib.import_module('%s.%s' % (package, mode))
except ImportError:
logger.info('Failed to import class: {} as {}.{}'.format(message_type, package, mode))
return None
try:
class_val = getattr(python_pkg, base_type)
return class_val
except AttributeError:
logger.info('Failed to load class: {}'.format(message_type))
return None
def __init__(self, context):
super(Ros2KnowledgeGraph, self).__init__(context)
self._node = context.node
self._logger = self._node.get_logger().get_child(
'ros2_knowledge_graph_viewer.ros2_knowledge_graph.Ros2KnowledgeGraph'
)
self.setObjectName('Ros2KnowledgeGraph')
self._ros2_knowledge_graph = Ros2KnowledgeGraphImpl()
self._current_dotcode = None
self._widget = QWidget()
self.dotcode_factory = PydotFactory()
self.dotcode_generator = Ros2KnowledgeGraphDotcodeGenerator()
self.dot_to_qt = DotToQtGenerator()
_, package_path = get_resource('packages',
'ros2_knowledge_graph_viewer')
ui_file = os.path.join(package_path, 'share',
'ros2_knowledge_graph_viewer', 'resource',
'Ros2KnowledgeGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('Ros2KnowledgeGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._update_ros2_knowledge_graph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self._updateTimer = QtCore.QTimer()
self._updateTimer.timeout.connect(self.do_update)
self._updateTimer.start(10)
def __init__(self, text):
"""
:param text: value to set the text of the widget to, ''str''
"""
super(TextBrowseDialog, self).__init__()
_, package_path = get_resource('packages', 'rqt_console')
ui_file = os.path.join(package_path, 'share', 'rqt_console',
'resource', 'text_browse_dialog.ui')
self.setFont(QFont('Mono'))
loadUi(ui_file, self)
self.text_browser.setText(text)
def _get_interfaces(package_names: Iterable[str] = []) -> Dict[str, List[str]]:
interfaces = {}
if len(package_names) == 0:
package_names = get_resources('rosidl_interfaces')
for package_name in package_names:
if not has_resource('packages', package_name):
raise LookupError(f"Unknown package '{package_name}'")
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
continue
interfaces[package_name] = content.splitlines()
return interfaces
def get_service_types(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package name')
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(dirk-thomas) this logic should come from a rosidl related package
# Only return services in srv folder
return [
n[4:-4] for n in interface_names
if n.startswith('srv/') and n.endswith('.srv')
]
def parse_package(pkg: str) -> Sequence[MessageMetadata]:
rosidl_interfaces = ament_index_python.get_resource(
"rosidl_interfaces", pkg)[0].split("\n")
message_meta = []
for interface in rosidl_interfaces:
if interface.endswith(".msg"):
file = f"{ament_index_python.get_package_share_directory(pkg)}/{interface}"
message_meta.append(
MessageMetadata(
get_import_prefix(pkg, interface),
parse_message_file(pkg, file),
))
return message_meta
def get_action_types(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package name')
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(jacobperron) this logic should come from a rosidl related package
# Only return actions in action folder
return list(sorted({
n[7:-7]
for n in interface_names
if n.startswith('action/') and n[-7:] in ('.idl', '.action')}))
def get_message_types(package_name):
if not has_resource('packages', package_name):
raise LookupError('Unknown package name')
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(dirk-thomas) this logic should come from a rosidl related package
# Only return messages in msg folder
return {
n[4:-4]
for n in interface_names
if n.startswith('msg/') and n[-4:] in ('.idl', '.msg')
}
def get_rmw_output_filter(rmw_implementation, filter_type):
supported_filter_types = ['prefixes', 'patterns']
if filter_type not in supported_filter_types:
raise TypeError(
'Unsupported filter_type "{0}". Supported types: {1}'.format(
filter_type, supported_filter_types))
resource_name = 'rmw_output_' + filter_type
prefix_with_resource = ament_index_python.has_resource(
resource_name, rmw_implementation)
if not prefix_with_resource:
return []
# Treat each line of the resource as an independent filter.
rmw_output_filter, _ = ament_index_python.get_resource(
resource_name, rmw_implementation)
return [str.encode(l) for l in rmw_output_filter.splitlines()]
def get_rosidl_types_of_type(package_name, rosidl_type):
"""
Retrieve a list of rosidl interfaces of a specific type provided by a ROS2 package.
:param package_name: ROS2 package name
:type package_name: str
:param rosidl_type: rosidl type to filter by, one of ['msg', 'srv', 'action']
:type rosidl_type: str
:returns: a list of the filtered rosidl types
"""
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
return _filter_rosidl_types(rosidl_type, interface_names)
def main(self, *, args): # noqa: D102
# the following is the resource index which is created when installing a pluginlib xml file
if args.plugin_type == 'storage':
pluginlib_resource_index = 'rosbag2_storage__pluginlib__plugin'
elif args.plugin_type == 'compressor' or args.plugin_type == 'decompressor':
pluginlib_resource_index = 'rosbag2_compression__pluginlib__plugin'
else:
pluginlib_resource_index = 'rosbag2_cpp__pluginlib__plugin'
resources = get_resources(pluginlib_resource_index)
if args.verbose:
print('available %s plugins are:' % args.plugin_type)
for resource in resources:
plugin_xml_file_paths, base_folder = get_resource(
pluginlib_resource_index, resource)
for file_path in list(
filter(None, plugin_xml_file_paths.split('\n'))):
abs_path = os.path.join(base_folder, file_path)
if not os.path.exists(abs_path):
return 'path does not exist: %s' % abs_path
xmldoc = minidom.parse(abs_path)
for class_item in xmldoc.getElementsByTagName('class'):
class_name = class_item.attributes['name']
type_name = class_item.attributes['type']
base_class_name = class_item.attributes['base_class_type']
description = class_item.getElementsByTagName(
'description')[0]
# Compression and decompression plugins share the same resource index
# so they must be filtered using their base class
if args.plugin_type == 'compressor' and \
base_class_name.value != \
'rosbag2_compression::BaseCompressorInterface':
continue
elif args.plugin_type == 'decompressor' and \
base_class_name.value != \
'rosbag2_compression::BaseDecompressorInterface':
continue
print(
'%s%s' %
(('name: ' if args.verbose else ''), class_name.value))
if args.verbose:
print('\t%s' % description.childNodes[0].data)
print('\ttype: %s' % type_name.value)
print('\tbase_class: %s' % base_class_name.value)
def __init__(self):
super(ParameditWidget, self).__init__()
_, package_path = get_resource('packages', 'rqt_reconfigure')
ui_file = os.path.join(package_path, 'share', 'rqt_reconfigure',
'resource', 'paramedit_pane.ui')
loadUi(ui_file, self, {'ParameditWidget': ParameditWidget})
self._param_client_widgets = OrderedDict()
# Adding the list of Items
self._vlayout = QVBoxLayout(self.scrollarea_holder_widget)
# causes error
# self._set_index_widgets(self.listview, paramitems_dict)
self.destroyed.connect(self.close)
def get_ros2_messages():
pkgs = []
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')
}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
content = yaml.safe_load(h)
if not isinstance(content, list):
print(
"The content of the mapping rules in '%s' is not a list" %
rule_file,
file=sys.stderr)
continue
for data in content:
if all(n not in data
for n in ('ros1_service_name', 'ros2_service_name')):
try:
rules.append(MessageMappingRule(data, package_name))
except Exception as e: # noqa: B902
print('%s' % str(e), file=sys.stderr)
return pkgs, msgs, rules
def get_rosidl_types(package_name):
"""
Retrieve a dictionary of lists for all rosidl interface types provided by a ROS2 package.
:param package_name: ROS2 package name
:type package_name: str
:returns: a dictionary mapping rosidl type to a list {'msg': [...], 'srv': ... }
"""
rosidl_types = {}
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
for filter_type in ROSIDL_FILTERS.keys():
rosidl_types[filter_type] = _filter_rosidl_types(filter_type, interface_names)
return rosidl_types
def __init__(self, context):
"""Initialize the plugin."""
super().__init__(context)
self._context = context
self.subscription = None
self.graph = None
self.filename = None
# only declare the parameter if running standalone or it's the first instance
if self._context.serial_number() <= 1:
self._context.node.declare_parameter("title", "Dot Graph Viewer")
self.title = self._context.node.get_parameter("title").value
supported_formats = QImageWriter.supportedImageFormats()
self.image_filter = (
";;".join([f"*.{fo.data().decode()}"
for fo in supported_formats]) + ";;*.svg")
self._widget = QWidget()
self.setObjectName(self.title)
_, package_path = get_resource("packages", "rqt_dotgraph")
ui_file = os.path.join(package_path, "share", "rqt_dotgraph",
"resource", "rqt_dotgraph.ui")
loadUi(ui_file, self._widget, {"DotWidget": DotWidget})
self._widget.setObjectName(self.title + "UI")
self._widget.refreshButton.clicked[bool].connect(
self.update_subscriber)
self._widget.loadButton.clicked[bool].connect(self.load_graph)
self._widget.saveButton.clicked[bool].connect(self.save_graph)
title = self.title
if self._context.serial_number() > 1:
title += f" ({self._context.serial_number()})"
self._context.add_widget(self._widget)
self._widget.setWindowTitle(title)
# only set main window title if running standalone
if self._context.serial_number() < 1:
self._widget.window().setWindowTitle(self.title)
self.setup_subscription("dot_graph")
def get_ros2_messages():
msgs = []
pkgs = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')
}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
return pkgs, msgs
def _get_message_types(self, package_name):
"""
Implementation taken from ros2cli.
https://github.com/ros2/ros2cli/blob/master/ros2msg/ros2msg/api/__init__.py
"""
if not has_resource('packages', package_name):
raise LookupError('Unknown package name "{}"'.format(package_name))
try:
content, _ = get_resource('rosidl_interfaces', package_name)
except LookupError:
return []
interface_names = content.splitlines()
# TODO(dirk-thomas) this logic should come from a rosidl related package
# Only return messages in msg folder
return [
n[4:-4] for n in interface_names
if n.startswith('msg/') and n.endswith('.msg')
]
def get_ros2_messages():
pkgs = []
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = {
i[4:-4]
for i in interfaces
if i.startswith('msg/') and i[-4:] in ('.idl', '.msg')}
for message_name in sorted(message_names):
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
content = yaml.safe_load(h)
if not isinstance(content, list):
print(
"The content of the mapping rules in '%s' is not a list" % rule_file,
file=sys.stderr)
continue
for data in content:
if all(n not in data for n in ('ros1_service_name', 'ros2_service_name')):
try:
rules.append(MessageMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, msgs, rules
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def __init__(self, parentfilter, display_list_args=None):
"""
Widget for displaying interactive data related to text filtering.
Taken from rqt_console and simplified to be usable in broader
situations.
:type parentfilter: BaseFilter
:param parentfilter: buddy filter were data is stored, ''TimeFilter''
:param display_list_args: empty list, ''list''
"""
super(TextFilterWidget, self).__init__()
_, package_path = get_resource('packages', 'rqt_reconfigure')
ui_file = os.path.join(package_path, 'share', 'rqt_reconfigure',
'resource', 'text_filter_widget.ui')
loadUi(ui_file, self)
self.setObjectName('TextFilterWidget')
# When data is changed it is stored in the parent filter
self._parentfilter = parentfilter
self.text_edit.textChanged.connect(self.handle_text_changed)
self.handle_text_changed()
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def __init__(self, context):
super(JointTrajectoryController, self).__init__(context)
self.setObjectName('JointTrajectoryController')
self._node = context.node
# Get the robot_description via a topic
qos_profile = QoSProfile(depth=1,
history=HistoryPolicy.KEEP_LAST,
durability=DurabilityPolicy.TRANSIENT_LOCAL)
self._robot_description_sub = self._node.create_subscription(
String, 'robot_description',
self._robot_description_cb, qos_profile)
self._robot_description = None
self._publisher = None
self._widget = QWidget()
_, package_path = get_resource('packages', 'rqt_joint_trajectory_controller')
ui_file = os.path.join(package_path, 'share', 'rqt_joint_trajectory_controller', 'resource', 'joint_trajectory_controller.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('JointTrajectoryControllerUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(
self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
ns = self._node.get_namespace()
self._widget.controller_group.setTitle('ns: ' + ns)
# Setup speed scaler
speed_scaling = DoubleEditor(1.0, 100.0)
speed_scaling.spin_box.setSuffix('%')
speed_scaling.spin_box.setValue(50.0)
speed_scaling.spin_box.setDecimals(0)
speed_scaling.setEnabled(False)
self._widget.speed_scaling_layout.addWidget(speed_scaling)
self._speed_scaling_widget = speed_scaling
speed_scaling.valueChanged.connect(self._on_speed_scaling_change)
self._on_speed_scaling_change(speed_scaling.value())
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._jtc_name = [] # Name of selected joint trajectory controller
self._cm_ns = [] # Namespace of the selected controller manager
self._joint_pos = {} # name->pos map for joints of selected controller
self._joint_names = [] # Ordered list of selected controller joints
self._robot_joint_limits = {} # Lazily evaluated on first use
# Timer for sending commands to active controller
self._update_cmd_timer = QTimer(self)
self._update_cmd_timer.setInterval(1000.0 / self._cmd_pub_freq)
self._update_cmd_timer.timeout.connect(self._update_cmd_cb)
# Timer for updating the joint widgets from the controller state
self._update_act_pos_timer = QTimer(self)
self._update_act_pos_timer.setInterval(1000.0 /
self._widget_update_freq)
self._update_act_pos_timer.timeout.connect(self._update_joint_widgets)
# Timer for controller manager updates
# TODO: self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_jtc_list_timer = QTimer(self)
self._update_jtc_list_timer.setInterval(1000.0 /
self._ctrlrs_update_freq)
self._update_jtc_list_timer.timeout.connect(self._update_jtc_list)
self._update_jtc_list_timer.start()
# Signal connections
w = self._widget
w.enable_button.toggled.connect(self._on_jtc_enabled)
w.jtc_combo.currentIndexChanged[str].connect(self._on_jtc_change)
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
self._cmd_pub = None # Controller command publisher
self._state_sub = None # Controller state subscriber
self._list_controllers = None
self._traj_ns_topic_dict = None
def test_resource_overlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resource, prefix = get_resource('resource_type5', 'foo')
assert resource == 'foo1', 'Expected different content'
assert os.path.basename(prefix) == 'prefix1', 'Expected different prefix'
def test_resource_overlay():
set_ament_prefix_path(['prefix1', 'prefix2'])
resource = get_resource('resource_type5', 'foo')
assert resource == 'foo1', 'Expected different content'
