def get_paths():
gazebo_model_path = []
gazebo_plugin_path = []
gazebo_media_path = []
for package_name in get_package_names():
package_share_path = get_package_share_directory(package_name)
package_file_path = os.path.join(package_share_path, PACKAGE_MANIFEST_FILENAME)
if os.path.isfile(package_file_path):
try:
package = parse_package(package_file_path)
except InvalidPackage:
continue
for export in package.exports:
if export.tagname == 'gazebo_ros':
if 'gazebo_model_path' in export.attributes:
xml_path = export.attributes['gazebo_model_path']
xml_path = xml_path.replace('${prefix}', package_share_path)
gazebo_model_path.append(xml_path)
if 'plugin_path' in export.attributes:
xml_path = export.attributes['plugin_path']
xml_path = xml_path.replace('${prefix}', package_share_path)
gazebo_plugin_path.append(xml_path)
if 'gazebo_media_path' in export.attributes:
xml_path = export.attributes['gazebo_media_path']
xml_path = xml_path.replace('${prefix}', package_share_path)
gazebo_media_path.append(xml_path)
gazebo_model_path = os.pathsep.join(gazebo_model_path)
gazebo_plugin_path = os.pathsep.join(gazebo_plugin_path)
gazebo_media_path = os.pathsep.join(gazebo_media_path)
return gazebo_model_path, gazebo_plugin_path, gazebo_media_path
def main(self, *, args):
if args.package_name is not None:
if args.package_name not in get_package_names():
return "Unable to find package '" + args.package_name + "'"
print(*get_package_component_types(package_name=args.package_name),
sep='\n')
else:
for package_name, component_types in get_registered_component_types(
):
print(package_name)
print(*[' ' + type_name for type_name in component_types],
sep='\n')
def get_available_rmw_implementations():
try:
from ros2pkg.api import get_package_names
except ImportError or ModuleNotFoundError:
raise Exception(
'ROS2 needs to be installed and sourced to run ROS2 scans')
packages = get_package_names()
available_middlewares = []
for pkg in packages:
if pkg in rmw_implementations:
available_middlewares.append(pkg)
return available_middlewares
def test_api():
package_names = get_package_names()
assert isinstance(package_names, Iterable)
# explicit dependencies of this package will for sure be available
assert 'ros2cli' in package_names
prefix_path = get_prefix_path('ros2cli')
assert os.path.isdir(prefix_path)
prefix_path = get_prefix_path('_not_existing_package_name')
assert prefix_path is None
def test_api():
package_names = get_package_names()
assert isinstance(package_names, Iterable)
# explicit dependencies of this package will for sure be available
known_package_names = (
'ament_copyright', 'ament_flake8', 'ament_pep257', 'ros2cli')
for known_package_name in known_package_names:
assert known_package_name in package_names
prefix_path = get_prefix_path(known_package_name)
assert os.path.isdir(prefix_path)
prefix_path = get_prefix_path('_not_existing_package_name')
assert prefix_path is None
def main(self, *, args):
if args.package_name is None:
package_names = get_package_names()
else:
package_names = [args.package_name]
for package_name in sorted(package_names):
try:
paths = get_executable_paths(package_name=package_name)
except PackageNotFound:
if args.package_name is None:
assert False, 'This should never happen'
raise RuntimeError(f"Package '{args.package_name}' not found")
for path in sorted(paths):
if args.full_path:
print(path)
else:
print(package_name, os.path.basename(path))
def main(self, *, args):
for pkg_name in sorted(get_package_names()):
print(pkg_name)
