def get_ignore_data_helper(basename):
fn = 'package://roscompile/data/' + basename + '.ignore'
lines = []
for s in get(fn).split('\n'):
if len(s) > 0:
lines.append(s + '\n')
return lines
def test_get_large_file():
res_path = os.path.join(rospack.get_path("resource_retriever"),
"test/large_filepy.dat")
with open(res_path, 'w') as f:
for _ in range(1024 * 1024 * 50):
f.write('A')
res = r.get("package://resource_retriever/test/large_filepy.dat")
assert len(res) == 1024 * 1024 * 50
def maybe_download_python_deps():
global PYTHON_DEPS
if os.path.exists(PY_DEP_FILENAME):
PYTHON_DEPS = yaml.load(open(PY_DEP_FILENAME))
if 'last_download' in PYTHON_DEPS:
now = datetime.datetime.now()
if now - PYTHON_DEPS['last_download'] < datetime.timedelta(days=3):
return
ff = resource_retriever.get('https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml')
PYTHON_DEPS = yaml.load(ff)
PYTHON_DEPS['last_download'] = datetime.datetime.now()
yaml.dump(PYTHON_DEPS, open(PY_DEP_FILENAME, 'w'))
def getMeshPath(self, input_urdf, link_name):
# type: (AnyStr, AnyStr) -> AnyStr
tree = self.parseURDF(input_urdf)
link_found = False
filepath = None # type: AnyStr
for l in tree.findall('link'):
if l.attrib['name'] == link_name:
link_found = True
m = l.find('visual/geometry/mesh')
if m is not None:
filepath = m.attrib['filename']
try:
self.mesh_scaling = m.attrib['scale']
except KeyError:
self.mesh_scaling = '1 1 1'
if not link_found or m is None:
#print(Fore.RED + "No mesh information specified for link '{}' in URDF! Using a very large box.".format(link_name) + Fore.RESET)
filepath = None
#if path is ros package path, get absolute system path
if filepath and (filepath.startswith('package')
or filepath.startswith('model')):
try:
import resource_retriever #ros package
r = resource_retriever.get(filepath)
filepath = r.url.replace('file://', '')
#r.read() #get file into memory
except ImportError:
#if no ros installed, try to get stl files from 'meshes' dir relative to urdf files
filename = filepath.split('/')
try:
filename = filename[filename.index(self.opt['meshBaseDir']
):]
filepath = '/'.join(input_urdf.split('/')[:-1] + filename)
except ValueError:
filepath = None
return filepath
def getMeshPath(self, input_urdf, link_name):
import xml.etree.ElementTree as ET
tree = ET.parse(input_urdf)
link_found = False
filepath = None
for l in tree.findall('link'):
if l.attrib['name'] == link_name:
link_found = True
m = l.find('visual/geometry/mesh')
if m != None:
filepath = m.attrib['filename']
try:
self.mesh_scaling = m.attrib['scale']
except KeyError:
self.mesh_scaling = '1 1 1'
if not link_found or m is None:
print(Fore.LIGHTRED_EX + "No mesh information specified for {} in URDF! Using approximation.".format(link_name) + Fore.RESET)
filepath = None
else:
if not filepath.lower().endswith('stl'):
raise ValueError("Can't open other than STL files.")
# TODO: could use pycollada for *.dae
#if path is ros package path, get absolute system path
if filepath and (filepath.startswith('package') or filepath.startswith('model')):
try:
import resource_retriever #ros package
r = resource_retriever.get(filepath)
filepath = r.url.replace('file://', '')
#r.read() #get file into memory
except ImportError:
#if no ros installed, try to get stl files from 'meshes' dir relative to urdf files
filename = filepath.split('/')[-1]
filepath = '/'.join(input_urdf.split('/')[:-1] + ['meshes'] + [filename])
return filepath
from collections import defaultdict, OrderedDict
import re
import os.path
from resource_retriever import get
from roscompile.config import CFG
BREAKERS = ['catkin_package']
ALL_CAPS = re.compile('^[A-Z_]+$')
IGNORE_LINES = [s + '\n' for s in get('package://roscompile/data/cmake.ignore').read().split('\n') if len(s)>0]
IGNORE_PATTERNS = [s + '\n' for s in get('package://roscompile/data/cmake_patterns.ignore').read().split('\n') if len(s)>0]
ORDERING = ['cmake_minimum_required', 'project', 'find_package', 'catkin_python_setup', 'add_definitions',
'add_message_files', 'add_service_files', 'add_action_files', 'generate_dynamic_reconfigure_options',
'generate_messages', 'catkin_package',
['add_library', 'add_executable', 'target_link_libraries', 'add_dependencies', 'include_directories'],
'catkin_add_gtest', 'group', 'install']
SHOULD_ALPHABETIZE = ['COMPONENTS', 'DEPENDENCIES', 'FILES', 'CATKIN_DEPENDS']
INSTALL_CONFIGS = {
'exec': ('TARGETS', {'${CATKIN_PACKAGE_BIN_DESTINATION}': 'RUNTIME DESTINATION'}),
'library': ('TARGETS', {'${CATKIN_PACKAGE_LIB_DESTINATION}': ('ARCHIVE DESTINATION', 'LIBRARY DESTINATION'),
'${CATKIN_GLOBAL_BIN_DESTINATION}': 'RUNTIME DESTINATION'}),
'headers': ('FILES', {'${CATKIN_PACKAGE_INCLUDE_DESTINATION}': 'DESTINATION'}),
'misc': ('FILES', {'${CATKIN_PACKAGE_SHARE_DESTINATION}': 'DESTINATION'})
}
def get_ordering_index(cmd):
for i, o in enumerate(ORDERING):
if type(o)==list:
if cmd in o:
def add_footprint(self, topic, color=(0,170,255)):
self.add_display('Robot Footprint', 'rviz/Polygon', topic, color)
def add_path(self, topic, name, color=None):
self.add_display(name, 'rviz/Path', topic, color)
def add_pose(self, topic):
self.add_display('Current Goal', 'rviz/Pose', topic)
def set_goal(self, topic):
self.set_tool_topic('rviz/SetGoal', topic)
def write(self, f):
f.write(yaml.dump( self.data, default_flow_style=False))
r = RVizConfig(get('package://navigation_config/config/base.rviz'))
if rospy.has_param('/robot_description'):
r.add_model()
c = Configuration()
for topic, name in c.maps.iteritems():
r.add_map(topic, name)
for l in c.laser_scans():
r.add_laserscan(l)
for topic, name in c.paths.items():
r.add_path(topic, name)
if c.goal:
r.add_pose(c.goal)
def process_vehicles(vehicles, datapath):
'''
Looks for the vehicle file in datapath
Resolves corresponding urdf or xacro
- convention: uwsim urdf files come from Gazebo urdf files
- XXX.urdf or XXX.xacro -> XXX_uwsim.urdf
Creates Gazebo spawner with namespace
'''
vehicle_nodes = []
for vehicle in vehicles:
name = vehicle.findtext('name')
uwsim_urdf_file = vehicle.findtext('file')
# get to Gazebo xacro/urdf file
gazebo_model_file, datadir = uwsim_to_abspath(uwsim_urdf_file.replace('_uwsim.urdf','.xacro'), datapath)
if datadir == '':
gazebo_model_file, datadir = uwsim_to_abspath(uwsim_urdf_file.replace('_uwsim',''), datapath)
if datadir == '':
rospy.loginfo('Could not find original file for ' + uwsim_urdf_file + ' in ' + scene_file)
sys.exit(1)
uwsim_urdf_file = gazebo_model_file.replace('.urdf', '_uwsim.urdf').replace('.xacro', '_uwsim.urdf')
# parse Gazebo file (urdf or xacro)
if 'xacro' in gazebo_model_file:
uwsim_urdf_xml = subprocess.Popen(['rosrun', 'xacro', 'xacro', gazebo_model_file], stdout=subprocess.PIPE)
uwsim_urdf_xml = etree.fromstring(uwsim_urdf_xml.stdout.read())
# uwsim_urdf_xml = xacro.parse(gazebo_model_file)
# xacro.eval_self_contained(uwsim_urdf_xml)
# uwsim_urdf_xml = etree.fromstring(uwsim_urdf_xml.toxml())
else:
uwsim_urdf_xml = etree.parse(gazebo_model_file).getroot()
# clean up URDF: keep only joints and links
for child in uwsim_urdf_xml.getchildren():
if child.tag not in ('joint', 'link'):
uwsim_urdf_xml.remove(child)
# and remove collision / inertial / buoyancy from links
to_be_removed = ('collision', 'inertial', 'buoyancy')
for link in uwsim_urdf_xml.findall('link'):
for tag in to_be_removed:
for node in link.findall(tag):
link.remove(node)
# change mesh url-filenames to uwsim relative filenames
meshes = uwsim_urdf_xml.findall('link/visual/geometry/mesh')
if len(meshes) != 0:
# create uwsim urdf only if mesh in gazebo urdf, otherwise trust the user
for mesh in meshes:
mesh_file = resource_retriever.get(substitution_args.resolve_args(mesh.get('filename'))).url[7:]
# get uwsim relative path for mesh
mesh_file, datadir = abspath_to_uwsim(mesh_file, datapath)
# if mesh in dae, try to find corresponding osg
if '.dae' in mesh_file:
mesh_osg, datadir_osg = uwsim_to_abspath(mesh_file.replace('.dae','.osg'), datapath)
if datadir_osg != '':
mesh_file, datadir = abspath_to_uwsim(mesh_osg, datapath)
if datadir == '':
rospy.loginfo('Could not find relative path for ' + mesh_file + ' in ' + gazebo_model_file)
sys.exit(1)
else:
if os.path.lexists(datadir + '/' + os.path.splitext(mesh_file)[0] + '.osg'):
mesh_file = mesh_file.split('.')[0] + '.osg'
mesh.set('filename', mesh_file)
# write uwsim urdf
insert_header_and_write(uwsim_urdf_xml, gazebo_model_file, uwsim_urdf_file)
# get nodes to write in gazebo spawner
vehicle_nodes.append(create_spawner(vehicle, gazebo_model_file))
return vehicle_nodes
from xml.dom.minidom import parse
from resource_retriever import get
from roscompile.config import CFG
import operator, collections
IGNORE_PACKAGES = ['roslib']
IGNORE_LINES = [s + '\n' for s in get('package://roscompile/data/package.ignore').read().split('\n') if len(s)>0]
ORDERING = ['name', 'version', 'description',
['maintainer', 'license', 'author', 'url'],
'buildtool_depend', 'build_depend', 'run_depend', 'test_depend',
'export']
def get_ordering_index(name):
for i, o in enumerate(ORDERING):
if type(o)==list:
if name in o:
return i
elif name==o:
return i
if name:
print '\tUnsure of ordering for', name
return len(ORDERING)
def get_sort_key(node, alphabetize_depends=True):
if node:
name = node.nodeName
else:
name = None
index = get_ordering_index(name)
usage=show_usage(),
epilog=show_epilog(),
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('-o',
'--option',
type=str,
default='eof',
help='dont care')
parsed_known_args, unknown_args = parser.parse_known_args(sys.argv[1:])
print(parsed_known_args)
usp = None
try:
l = rosparam.list_params('')
models = []
for p in l:
v = rosparam.get_param(p)
if type(v) is str and len(v) > 10000:
models.append(p)
r = create_robot_model(get('package://dsr_launcher/rviz/default.rviz'))
for m in models:
r.add_model(m, m[0:-18])
temp = tempfile.NamedTemporaryFile()
r.write(temp)
temp.flush()
args = ['rosrun', 'rviz', 'rviz', '-d', temp.name]
usp = subprocess.call(args)
temp.close()
except KeyboardInterrupt:
print("Interrupted by user, shutting down...")
def test_invalid_file():
r.get("file://fail")
def test_http():
res = r.get("http://packages.ros.org/ros.key")
assert len(res) > 0
epilog=show_epilog(),
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('-o',
'--option',
type=str,
default='eof',
help='dont care')
parsed_known_args, unknown_args = parser.parse_known_args(sys.argv[1:])
print(parsed_known_args)
usp = None
try:
l = rosparam.list_params('')
models = []
for p in l:
v = rosparam.get_param(p)
if type(v) is str and len(v) > 10000:
models.append(p)
r = create_robot_model(
get('package://dsr_launcher/rviz/default_melodic.rviz'))
for m in models:
r.add_model(m, m[0:-18])
temp = tempfile.NamedTemporaryFile()
r.write(temp)
temp.flush()
args = ['rosrun', 'rviz', 'rviz', '-d', temp.name]
usp = subprocess.call(args)
temp.close()
except KeyboardInterrupt:
print("Interrupted by user, shutting down...")
epilog=show_epilog(),
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('-o',
'--option',
type=str,
default='eof',
help='dont care')
parsed_known_args, unknown_args = parser.parse_known_args(sys.argv[1:])
print(parsed_known_args)
usp = None
try:
l = rosparam.list_params('')
models = []
for p in l:
v = rosparam.get_param(p)
if type(v) is str and len(v) > 10000:
models.append(p)
r = create_robot_model(
get('package://dsr_launcher/rviz/default_noetic.rviz'))
for m in models:
r.add_model(m, "")
#r.add_model(m, m[0:-18])
temp = tempfile.NamedTemporaryFile()
r.write(temp)
temp.flush()
args = ['rosrun', 'rviz', 'rviz', '-d', temp.name]
usp = subprocess.call(args)
temp.close()
except KeyboardInterrupt:
print("Interrupted by user, shutting down...")
def test_get_by_package():
res = r.get("package://resource_retriever/test/test.txt")
assert len(res) == 1
assert res == 'A'.encode()
def test_invalid_package():
r.get("package://invalid_package_blah/test.xml")
def test_no_file():
r.get("package://roscpp")
def process_vehicles(vehicles, datapath):
'''
Looks for the vehicle file in datapath
Resolves corresponding urdf or xacro
- convention: uwsim urdf files come from Gazebo urdf files
- XXX.urdf or XXX.xacro -> XXX_uwsim.urdf
Creates Gazebo spawner with namespace
'''
vehicle_nodes = []
for vehicle in vehicles:
name = vehicle.findtext('name')
uwsim_urdf_file = vehicle.findtext('file')
# get to Gazebo xacro/urdf file
gazebo_model_file, datadir = uwsim_to_abspath(uwsim_urdf_file.replace('_uwsim.urdf','.xacro'), datapath)
if datadir == '':
gazebo_model_file, datadir = uwsim_to_abspath(uwsim_urdf_file.replace('_uwsim',''), datapath)
if datadir == '':
rospy.loginfo('Could not find original file for ' + uwsim_urdf_file + ' in ' + scene_file)
sys.exit(1)
uwsim_urdf_file = gazebo_model_file.replace('.urdf', '_uwsim.urdf').replace('.xacro', '_uwsim.urdf')
# parse Gazebo file (urdf or xacro)
if 'xacro' in gazebo_model_file:
uwsim_urdf_xml = subprocess.Popen(['rosrun', 'xacro', 'xacro', gazebo_model_file], stdout=subprocess.PIPE)
uwsim_urdf_xml = etree.fromstring(uwsim_urdf_xml.stdout.read())
# uwsim_urdf_xml = xacro.parse(gazebo_model_file)
# xacro.eval_self_contained(uwsim_urdf_xml)
# uwsim_urdf_xml = etree.fromstring(uwsim_urdf_xml.toxml())
else:
uwsim_urdf_xml = etree.parse(gazebo_model_file).getroot()
# clean up URDF: keep only joints and links
for child in uwsim_urdf_xml.getchildren():
if child.tag not in ('joint', 'link'):
uwsim_urdf_xml.remove(child)
# and remove collision / inertial / buoyancy from links
to_be_removed = ('collision', 'inertial', 'buoyancy')
for link in uwsim_urdf_xml.findall('link'):
for tag in to_be_removed:
for node in link.findall(tag):
link.remove(node)
# change mesh url-filenames to uwsim relative filenames
meshes = uwsim_urdf_xml.findall('link/visual/geometry/mesh')
if len(meshes) != 0:
# create uwsim urdf only if mesh in gazebo urdf, otherwise trust the user
for mesh in meshes:
mesh_file = resource_retriever.get(substitution_args.resolve_args(mesh.get('filename'))).url[7:]
# get uwsim relative path for mesh
mesh_file, datadir = abspath_to_uwsim(mesh_file, datapath)
# if mesh in dae, try to find corresponding osg
if '.dae' in mesh_file:
mesh_osg, datadir_osg = uwsim_to_abspath(mesh_file.replace('.dae','.osg'), datapath)
if datadir_osg != '':
mesh_file, datadir = abspath_to_uwsim(mesh_osg, datapath)
if datadir == '':
rospy.loginfo('Could not find relative path for ' + mesh_file + ' in ' + gazebo_model_file)
sys.exit(1)
else:
if os.path.lexists(datadir + '/' + os.path.splitext(mesh_file)[0] + '.osg'):
mesh_file = mesh_file.split('.')[0] + '.osg'
mesh.set('filename', mesh_file)
# write uwsim urdf
insert_header_and_write(uwsim_urdf_xml, gazebo_model_file, uwsim_urdf_file)
# get nodes to write in gazebo spawner
vehicle_nodes.append(create_spawner(vehicle, gazebo_model_file))
return vehicle_nodes
self.add_display('Robot Footprint', 'rviz/Polygon', topic, color)
def add_path(self, topic, name, color=None):
self.add_display(name, 'rviz/Path', topic, color)
def add_pose(self, topic):
self.add_display('Current Goal', 'rviz/Pose', topic)
def set_goal(self, topic):
self.set_tool_topic('rviz/SetGoal', topic)
def write(self, f):
f.write(yaml.dump(self.data, default_flow_style=False))
r = RVizConfig(get('package://navigation_config/config/base.rviz'))
if rospy.has_param('/robot_description'):
r.add_model()
c = Configuration()
for topic, name in c.maps.iteritems():
r.add_map(topic, name)
for l in c.laser_scans():
r.add_laserscan(l)
for topic, name in c.paths.items():
r.add_path(topic, name)
if c.goal:
r.add_pose(c.goal)