def test_get_packages_with_prefixes():
set_ament_prefix_path(['prefix1', 'prefix2'])
packages = get_packages_with_prefixes()
assert 'foo' in packages, "Expected to find 'foo'"
assert PurePath(packages['foo']).name == 'prefix1', "Expected to find 'foo' in 'prefix1'"
assert 'bar' in packages, "Expected to find 'bar'"
assert PurePath(packages['bar']).name == 'prefix1', "Expected to find 'bar' in 'prefix1'"
assert 'baz' in packages, "Expected to find 'baz'"
assert PurePath(packages['baz']).name == 'prefix2', "Expected to find 'baz' in 'prefix2'"
os.environ['AMENT_PREFIX_PATH'] = '/path/does/not/exist'
assert not get_packages_with_prefixes(), 'Expected to find no packages'
def _is_ros_package(self, pkg):
if ROS1_AVAILABLE:
if pkg in rospkg.RosPack().list():
return True
if ROS2_AVAILABLE:
if pkg in \
ament_index_python.get_packages_with_prefixes().keys():
return True
return False
def _resolve_ros_package(self):
pkgs = list()
if ROS1_AVAILABLE:
pkgs = pkgs + list(rospkg.RosPack().list())
elif ROS2_AVAILABLE:
pkgs = pkgs + list(
ament_index_python.get_packages_with_prefixes().keys())
for ros_pkg in pkgs:
pkg_path = self._find_ros_package_resources_path(ros_pkg)
if pkg_path in os.path.dirname(self.absolute_uri):
self._ros_pkg = ros_pkg
return
def _get_ros_package_name(self, filename):
if ROS1_AVAILABLE:
finder = rospkg.RosPack()
if os.path.isfile(filename):
for pkg_name in finder.list():
if finder.get_path(pkg_name) in filename:
return pkg_name
else:
pkgs = ament_index_python.get_packages_with_prefixes()
if os.path.isfile(filename):
for pkg_name in pkgs.keys():
if pkgs[pkg_name] in filename:
return pkg_name
return None
def get_local_package_versions() -> dict:
"""
Return local package name and versions.
:return: dictionary of local package name and version
"""
local_packages = {}
package_name_prefixes = get_packages_with_prefixes()
if package_name_prefixes:
for name, prefix in package_name_prefixes.items():
file_path = os.path.join(prefix, 'share', name)
package_obj = parse_package(file_path)
local_packages[
name] = package_obj.version if package_obj.version else ''
return local_packages
def load_gazebo_models():
"""Search for Gazebo models in the local `.gazebo/models` folder
and in the ROS paths.
> *Returns*
`dict`: Information of all Gazebo models found
"""
import os
try:
import rospkg
ROS1_AVAILABLE = True
except ImportError:
ROS1_AVAILABLE = False
try:
import ament_index_python
ROS2_AVAILABLE = True
except ImportError:
ROS2_AVAILABLE = False
global GAZEBO_MODELS
GAZEBO_MODELS = dict()
ros_pkgs = list()
if ROS1_AVAILABLE:
ros_pkgs = ros_pkgs + list(rospkg.RosPack().list())
if ROS2_AVAILABLE:
ros_pkgs = ros_pkgs + list(
ament_index_python.get_packages_with_prefixes().keys())
if '/opt/ros/kinetic/share' not in rospkg.RosPack(
).ros_paths: # TEMP TEMP TEMP
# Load all models from catkin packages
for ros_pkg in ros_pkgs:
ros_path = None
# print("line 110.")
print(ros_pkg)
if ROS1_AVAILABLE:
try:
ros_path = rospkg.RosPack().get_path(ros_pkg)
except rospkg.ResourceNotFound:
pass
if ROS2_AVAILABLE and ros_path is None:
try:
ros_path = \
ament_index_python.get_package_share_directory(
ros_pkg)
except ament_index_python.PackageNotFoundError:
pass
if ros_path:
for folder in os.listdir(ros_path):
if not os.path.isdir(os.path.join(ros_path, folder)):
continue
models = get_gazebo_model_folders(
os.path.join(ros_path, folder))
# print("line 110.")
# print(os.path.join(ros_path, folder))
# print(models)
for tag in models:
models[tag]['ros_pkg'] = ros_pkg
GAZEBO_MODELS.update(models)
# Load all models from ~/.gazebo/models
home_folder = os.path.expanduser('~')
gazebo_folder = os.path.join(home_folder, '.gazebo', 'models')
if os.path.isdir(gazebo_folder):
GAZEBO_MODELS.update(get_gazebo_model_folders(gazebo_folder))
gazebo_folder = None
for folder in os.listdir('/usr/share'):
if 'gazebo-' in folder:
gazebo_folder = os.path.join('/usr', 'share', folder, 'models')
break
if gazebo_folder is not None:
if os.path.isdir(gazebo_folder):
GAZEBO_MODELS.update(get_gazebo_model_folders(gazebo_folder))
# Parse the GAZEBO_MODEL_PATH, if available
if 'GAZEBO_MODEL_PATH' in os.environ:
for folder in os.environ['GAZEBO_MODEL_PATH'].split(':'):
if os.path.isdir(folder):
GAZEBO_MODELS.update(get_gazebo_model_folders(folder))
if len(CUSTOM_GAZEBO_RESOURCE_PATHS) > 0:
for folder in CUSTOM_GAZEBO_RESOURCE_PATHS:
GAZEBO_MODELS.update(get_gazebo_model_folders(folder))
print("line 111.")
return GAZEBO_MODELS
def get_package_names():
return get_packages_with_prefixes().keys()
