def translate(msg):
datafile = '/tmp/{}.json'.format(uuid.uuid4())
data = {
'height': msg.info.height,
'width': msg.info.width,
'resolution': msg.info.resolution,
'origin_x': msg.info.origin.position.x,
'origin_y': msg.info.origin.position.y,
'data': msg.data
}
# Save the message data to be read by external translator.
with open(datafile, 'w') as f:
json.dump(data, f)
# Run external translator.
geotiffFilename = '/tmp/{}.tif'.format(uuid.uuid4())
script_dir = catkin_find(project='qgis_ros', path='scripts', first_match_only=True)[0]
rasterize_script = Path(script_dir) / 'msg_to_geotiff.py'
subprocess.check_call([str(rasterize_script), datafile, geotiffFilename])
# Return filename.
return geotiffFilename
def find_resource(pkg, resource_name, filter_fn=None, rospack=None):
"""
Warning: unstable API due to catkin.
Locate the file named resource_name in package, optionally
matching specified filter. find_resource() will return a list of
matches, but only for a given scope. If the resource is found in
the binary build directory, it will only return matches in that
directory; it will not return matches from the ROS_PACKAGE_PATH as
well in this case.
:param filter: function that takes in a path argument and
returns True if the it matches the desired resource, ``fn(str)``
:param rospack: `rospkg.RosPack` instance to use
:returns: lists of matching paths for resource within a given scope, ``[str]``
:raises: :exc:`rospkg.ResourceNotFound` If package does not exist
"""
# New resource-location policy in Fuerte, induced by the new catkin
# build system:
# (1) Use catkin_find to find libexec and share locations, look
# recursively there. If the resource is found, done.
# Else continue:
# (2) If ROS_PACKAGE_PATH is set, look recursively there. If the
# resource is found, done. Else raise
#
# NOTE: package *must* exist on ROS_PACKAGE_PATH no matter what
if rospack is None:
rospack = rospkg.RosPack()
# lookup package as it *must* exist
pkg_path = rospack.get_path(pkg)
source_path_to_packages = rospack.get_custom_cache('source_path_to_packages', {})
# if found in binary dir, start with that. in any case, use matches
# from ros_package_path
matches = []
search_paths = catkin_find(
search_dirs=['libexec', 'share'], project=pkg, first_matching_workspace_only=True,
source_path_to_packages=source_path_to_packages)
# persist mapping of packages in rospack instance
if source_path_to_packages:
rospack.set_custom_cache('source_path_to_packages', source_path_to_packages)
for search_path in search_paths:
matches.extend(_find_resource(search_path, resource_name, filter_fn=filter_fn))
matches.extend(_find_resource(pkg_path, resource_name, filter_fn=filter_fn))
# Uniquify the results, in case we found the same file twice, while keeping order
unique_matches = []
for match in matches:
if match not in unique_matches:
unique_matches.append(match)
return unique_matches
def find_resource(pkg, resource_name, filter_fn=None, rospack=None):
"""
Warning: unstable API due to catkin.
Locate the file named resource_name in package, optionally
matching specified filter. find_resource() will return a list of
matches, but only for a given scope. If the resource is found in
the binary build directory, it will only return matches in that
directory; it will not return matches from the ROS_PACKAGE_PATH as
well in this case.
:param filter: function that takes in a path argument and
returns True if the it matches the desired resource, ``fn(str)``
:param rospack: `rospkg.RosPack` instance to use
:returns: lists of matching paths for resource within a given scope, ``[str]``
:raises: :exc:`rospkg.ResourceNotFound` If package does not exist
"""
# New resource-location policy in Fuerte, induced by the new catkin
# build system:
# (1) Use catkin_find to find libexec and share locations, look
# recursively there. If the resource is found, done.
# Else continue:
# (2) If ROS_PACKAGE_PATH is set, look recursively there. If the
# resource is found, done. Else raise
#
# NOTE: package *must* exist on ROS_PACKAGE_PATH no matter what
if rospack is None:
rospack = rospkg.RosPack()
# lookup package as it *must* exist
pkg_path = rospack.get_path(pkg)
source_path_to_packages = rospack.get_custom_cache('source_path_to_packages', {})
# if found in binary dir, start with that. in any case, use matches
# from ros_package_path
matches = []
search_paths = catkin_find(
search_dirs=['libexec', 'share'], project=pkg, first_matching_workspace_only=True,
source_path_to_packages=source_path_to_packages)
# persist mapping of packages in rospack instance
if source_path_to_packages:
rospack.set_custom_cache('source_path_to_packages', source_path_to_packages)
for search_path in search_paths:
matches.extend(_find_resource(search_path, resource_name, filter_fn=filter_fn))
matches.extend(_find_resource(pkg_path, resource_name, filter_fn=filter_fn))
# Uniquify the results, in case we found the same file twice, while keeping order
unique_matches = []
for match in matches:
if match not in unique_matches:
unique_matches.append(match)
return unique_matches
def GetPackageBinaries(self, request, context):
result = fms.PathList()
binaries = []
try:
path = get_pkg_path(request.name)
self._get_binaries(path, binaries)
result.items.extend(binaries)
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'],
project=request.name,
first_matching_workspace_only=True)
for p in search_paths:
self._get_binaries(p, binaries)
except Exception:
import traceback
print(traceback.format_exc())
pass
return result
def on_package_selected(self, package):
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
path = self.packages[package]
binaries = self._getBinaries(path).keys()
try:
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True)
for p in search_paths:
binaries += self._getBinaries(p).keys()
except:
pass
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = package
self.binary = self.binary_field.currentText()
def on_package_selected(self, package):
self.binary_field.clear()
if self.packages and self.packages.has_key(package):
self.binary_field.setEnabled(True)
self.args_field.setEnabled(True)
self.ns_field.setEnabled(True)
self.name_field.setEnabled(True)
path = self.packages[package]
binaries = self._getBinaries(path).keys()
try:
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True)
for p in search_paths:
binaries += self._getBinaries(p).keys()
except:
pass
binaries.sort()
self.binary_field.addItems(binaries)
self.package = package
root, ext = os.path.splitext(os.path.basename(self.binary_field.currentText()))
self.name_field.setText(root)
