def __call__(self, prefix, parsed_args, **kwargs):
package_name = getattr(parsed_args, self.package_name_key)
try:
paths = get_executable_paths(package_name=package_name)
except PackageNotFound:
return []
return [os.path.basename(p) for p in paths]
def run_standalone_container(*, container_node_name):
"""Run a standalone component container."""
try:
paths = get_executable_paths(package_name='rclcpp_components')
except PackageNotFound:
raise RuntimeError("Package 'rclcpp_components' not found")
executable_path = next((p for p in paths if 'component_container' in p), None)
if executable_path is None:
raise RuntimeError('No component container node found!')
return subprocess.Popen([executable_path, '__node:=' + container_node_name])
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 get_executable_path(*, package_name, executable_name):
paths = get_executable_paths(package_name=package_name)
paths2base = {}
for p in paths:
basename = os.path.basename(p)
if basename == executable_name:
# pick exact match
paths2base[p] = basename
elif sys.platform == 'win32':
# check extensions listed in PATHEXT for match without extension
pathext = os.environ.get('PATHEXT', '').lower().split(os.pathsep)
ext = os.path.splitext(basename)[1].lower()
if ext in pathext and basename[:-len(ext)] == executable_name:
# pick match because of known extension
paths2base[p] = basename
if not paths2base:
return None
if len(paths2base) > 1:
raise MultipleExecutables(paths2base.keys())
return list(paths2base.keys())[0]
