def get_launch_path(name=''):
"""
Return the path to the launch directory or, if `name' is not empty,
to the given *Start.sh/*Stop.sh file.
Takes into account that when running on a development machine
the package can be found installed from debians or in the
current workspace, this last one having preference.
"""
assert_relative_path(name)
if pal_environ.is_desktop():
base = os.path.join(rospkg.RosPack().get_path('pal_startup_base'),
'scripts')
# We check if there is not a scripts directory, in that case
# pal_startup_base is installed from our debians and we need to
# use a slightly different path
if not os.path.exists(base):
base = rospkg.RosPack().get_path('pal_startup_base')
# The path we get from RosPack is:
# /opt/pal/cobalt/share/pal_startup_base/launch/*.sh
# But the actual executable files are here:
# /opt/pal/cobalt/bin/pal_startup_base/launch/*.sh
# So we replace that part of the path
base = base.replace('/share/', '/bin/')
else:
base = os.path.join(get_base_path(),
'bin/pal_startup_base')
return os.path.join(base, 'launch', name)
def get_launch_path(name=''):
"""
Return the path to the launch directory or, if `name' is not empty,
to the given *Start.sh/*Stop.sh file.
Takes into account that when running on a development machine
the package can be found installed from debians or in the
current workspace, this last one having preference.
"""
assert_relative_path(name)
if pal_environ.is_desktop():
base = os.path.join(rospkg.RosPack().get_path('pal_startup_base'),
'scripts')
# We check if there is not a scripts directory, in that case
# pal_startup_base is installed from our debians and we need to
# use a slightly different path
if not os.path.exists(base):
base = rospkg.RosPack().get_path('pal_startup_base')
# The path we get from RosPack is:
# /opt/pal/cobalt/share/pal_startup_base/launch/*.sh
# But the actual executable files are here:
# /opt/pal/cobalt/bin/pal_startup_base/launch/*.sh
# So we replace that part of the path
base = base.replace('/share/', '/bin/')
else:
base = os.path.join(get_base_path(), 'bin/pal_startup_base')
return os.path.join(base, 'launch', name)
def get_base_path():
"""
Return the path to the root directory. This is /mnt_flash on
the robot and ~/svn (or the aprorpiate branch) on a desktop.
"""
if pal_environ.is_desktop():
return os.path.join(os.path.expanduser('~/'),
os.environ.get('PAL_BRANCH'))
else:
return '/mnt_flash'
def get_base_path():
"""
Return the path to the root directory. This is /mnt_flash on
the robot and ~/svn (or the aprorpiate branch) on a desktop.
"""
if pal_environ.is_desktop():
return os.path.join(os.path.expanduser('~/'),
os.environ.get('PAL_BRANCH'))
else:
return '/mnt_flash'
def get_launch_path(name=''):
"""
Return the path to the launch directory or, if `name' is not empty,
to the given *Start.sh/*Stop.sh file.
"""
assert_relative_path(name)
base = get_base_path()
if pal_environ.is_desktop():
base = os.path.join(base, 'robot/sources')
return os.path.join(base, 'bin/launch', name)
def get_launch_path(name=''):
"""
Return the path to the launch directory or, if `name' is not empty,
to the given *Start.sh/*Stop.sh file.
"""
assert_relative_path(name)
base = get_base_path()
if pal_environ.is_desktop():
base = os.path.join(base, 'robot/sources')
return os.path.join(base, 'bin/launch', name)
def get_bin_path(name=''):
"""
Return the path to the bin/ directory or, if `name' is not empty,
to the given executable file.
This can be used for launching binaries that are still in the
robot/ directory.
"""
assert_relative_path(name)
base = get_base_path()
if pal_environ.is_desktop():
base = os.path.join(base, 'robot/local/output')
return os.path.join(base, 'bin', name)
def get_bin_path(name=''):
"""
Return the path to the bin/ directory or, if `name' is not empty,
to the given executable file.
This can be used for launching binaries that are still in the
robot/ directory.
"""
assert_relative_path(name)
base = get_base_path()
if pal_environ.is_desktop():
base = os.path.join(base, 'robot/local/output')
return os.path.join(base, 'bin', name)
def get_config_path(name=''):
"""
Return the path to the configuration directory ("etc") or, if `name'
is not empty, the given configuration subdirectory or file.
If running on a desktop, the path depends on the $PAL_HOST environment
variable.
"""
assert_relative_path(name)
path = get_base_path()
if pal_environ.is_desktop():
path = os.path.join(path, 'robot/sources/etc', pal_environ.get_robot())
else:
path = os.path.join(path, 'etc')
return os.path.join(path, name)
def get_config_path(name=''):
"""
Return the path to the configuration directory ("etc") or, if `name'
is not empty, the given configuration subdirectory or file.
If running on a desktop, the path depends on the $PAL_HOST environment
variable.
"""
assert_relative_path(name)
path = get_base_path()
if pal_environ.is_desktop():
path = os.path.join(path, 'robot/sources/etc', pal_environ.get_robot())
else:
path = os.path.join(path, 'etc')
return os.path.join(path, name)
