コード例 #1
0
ファイル: rosHelper.py プロジェクト: uh-adapsys/UHCore
    def _parseRosVersionSetupBash(version, onlyDifferent=True):
        """ Load the setup.bash file in a bash terminal, and import the env variables into a dict """
        """ onlyDifferent==True(default): Compare this dict to the current env vars and only return """
        """ Variables that are new or different in the ros bash terminal """ 
        if not ROS._envVars.has_key(version):
            # executes the bash script and exports env vars
            bashScript = '/opt/ros/%s/setup.bash' % version
            diffEnv = {}
            if os.path.exists(bashScript):
                rosEnv = ROS._parseBashEnviron('source ' + bashScript)
                baseEnv = ROS._parseBashEnviron()
        
                # find all the variables that ros added/changed
                for key, value in rosEnv.items():
                    if not baseEnv.has_key(key):
                        diffEnv[key] = value
                    elif baseEnv[key] != value:
                        # We really only want the bit that ros added
                        diffEnv[key] = value.replace(baseEnv[key], '').strip(':')
        
                # Add in any overrides from the config file
                if ros_config.has_key('envVars'):
                    diffEnv.update(ros_config['envVars'])
                    rosEnv.update(ros_config['envVars'])
            else:
                print >> sys.stderr, "Unable to read ros bash script, file not found: %s" % bashScript
                
            ROS._envVars[version] = (diffEnv, rosEnv)

        if onlyDifferent:
            return ROS._envVars[version][0]
        else:
            return ROS._envVars[version][1]
コード例 #2
0
ファイル: rosHelper.py プロジェクト: iduque/UHCore
    def parseRosBash(version=None, onlyDifferent=True):
        version = version or ros_config['version']
        if not ROS._envVars.has_key(version):
            # executes the bash script and exports env vars
            bashScript = '/opt/ros/%s/setup.bash' % version
            diffEnv = {}
            if os.path.exists(bashScript):
                rosEnv = ROS.parseBashEnviron('source ' + bashScript)
                baseEnv = ROS.parseBashEnviron()
        
                # find all the variables that ros added/changed
                for key, value in rosEnv.items():
                    if not baseEnv.has_key(key):
                        diffEnv[key] = value
                    elif baseEnv[key] != value:
                        # We really only want the bit that ros added
                        diffEnv[key] = value.replace(baseEnv[key], '').strip(':')
        
                # Add in any overrides from the config file
                if ros_config.has_key('envVars'):
                    diffEnv.update(ros_config['envVars'])
                    rosEnv.update(ros_config['envVars'])

            ROS._envVars[version] = (diffEnv, rosEnv)

        if onlyDifferent:
            return ROS._envVars[version][0]
        else:
            return ROS._envVars[version][1]
コード例 #3
0
ファイル: rosHelper.py プロジェクト: iduque/UHCore
    def configureROS(version=None, packagePath=None, packageName=None, rosMaster=None, overlayPath=None):
        """Any values not provided will be read from ros_config in config.py"""
        version = version or ros_config['version']
        overlayPath = overlayPath or ros_config['overlayPath']
        if(rosMaster == None and ros_config.has_key('rosMaster')):
            rosMaster = ros_config['rosMaster']

        for k, v in ROS.parseRosBash(version).items():
            if k == 'PYTHONPATH' and sys.path.count(v) == 0:
                sys.path.append(v)
            elif not os.environ.has_key(k):
                os.environ[k] = v
            elif k.endswith('PATH') and os.environ[k].find(v) == -1:
                os.environ[k] = ':'.join((v, os.environ[k]))

        # if 'ROS_MASTER_URI' not in os.environ.keys():
        if rosMaster != None:
            os.environ['ROS_MASTER_URI'] = rosMaster

        path = '/opt/ros/%(version)s/ros' % { 'version': version}
        if 'ROS_ROOT' not in os.environ.keys() or os.environ['ROS_ROOT'] != path:
            os.environ['ROS_ROOT'] = path

        path = '%(root)s/bin' % { 'root': os.environ['ROS_ROOT']}
        if os.environ['PATH'].find(path) == -1:
            os.environ['PATH'] = ':'.join((path, os.environ['PATH']))

        path = '/opt/ros/%(version)s/stacks' % { 'version': version}
        if 'ROS_PACKAGE_PATH' not in os.environ.keys():
            os.environ['ROS_PACKAGE_PATH'] = path
        elif os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
            os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))  

        path = os.path.expanduser(overlayPath)
        if os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
            os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))

        path = packagePath or os.path.dirname(os.path.realpath(__file__)) + '/ROS_Packages'
        if os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
            os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))

        path = '%(root)s/core/roslib/src' % { 'root': os.environ['ROS_ROOT']}
        if sys.path.count(path) == 0:
            sys.path.append(path)

        if packageName != None:
            import roslib
            roslib.load_manifest(packageName)
コード例 #4
0
ファイル: rosHelper.py プロジェクト: uh-adapsys/UHCore
    def configureROS(version=None, packagePath=None, packageName=None, rosMaster=None, overlayPath=None):
        """ Perform all tasks necessary to configure ROS interface for use.  All variables not specified """
        """     are detected from first the ros_config(if specified) or from the users .bashrc """
        """ Most common use is configureRos(packageName='name') in order to import a ros package for use"""
        """ Can be called multiple times without issue """
        if version == None:
            if not ros_config.has_key('version'):
                version = ROS._locateRosVersion()
            else:
                version = ros_config['version']
        
        if overlayPath == None:
            if not ros_config.has_key('overlayPath'):
                overlayPath = ROS._locateRosOverlayPath()
            else:
                overlayPath = ros_config['overlayPath']

        if(rosMaster == None and ros_config.has_key('rosMaster')):
            rosMaster = ros_config['rosMaster']

        for k, v in ROS._parseRosVersionSetupBash(version).items():
            if k == 'PYTHONPATH' and sys.path.count(v) == 0:
                sys.path.append(v)
            elif not os.environ.has_key(k):
                os.environ[k] = v
            elif k.endswith('PATH') and os.environ[k].find(v) == -1:
                os.environ[k] = ':'.join((v, os.environ[k]))

        # if 'ROS_MASTER_URI' not in os.environ.keys():
        if rosMaster != None:
            os.environ['ROS_MASTER_URI'] = rosMaster

        path = '/opt/ros/%(version)s/ros' % { 'version': version}
        if 'ROS_ROOT' not in os.environ.keys() or os.environ['ROS_ROOT'] != path:
            os.environ['ROS_ROOT'] = path

        path = '%(root)s/bin' % { 'root': os.environ['ROS_ROOT']}
        if os.environ['PATH'].find(path) == -1:
            os.environ['PATH'] = ':'.join((path, os.environ['PATH']))

        path = '/opt/ros/%(version)s/stacks' % { 'version': version}
        if 'ROS_PACKAGE_PATH' not in os.environ.keys():
            os.environ['ROS_PACKAGE_PATH'] = path
        elif os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
            os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))  

        if overlayPath != None:
            for path in overlayPath.split(':'):
                path = os.path.expanduser(path)
                if os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
                    os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))

        path = packagePath or os.path.dirname(os.path.realpath(__file__)) + '/ROS_Packages'
        if os.environ['ROS_PACKAGE_PATH'].find(path) == -1:
            os.environ['ROS_PACKAGE_PATH'] = ':'.join((path, os.environ['ROS_PACKAGE_PATH']))

        path = '%(root)s/core/roslib/src' % { 'root': os.environ['ROS_ROOT']}
        if sys.path.count(path) == 0:
            sys.path.append(path)

        if packageName != None:
            with _threadLock:
                import roslib
                try:
                    roslib.load_manifest(packageName)
                except Exception as e:
                    print >> sys.stderr, "Error loading package: %s" % packageName
                    print >> sys.stderr, repr(e)