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]
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]
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)
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)
