def __init__(self, ros_distro, sudo=False, no_chroot=False):

self.r2a = {}

self.a2r = {}

self.env = os.environ

self.env['ROS_DISTRO'] = ros_distro

if no_chroot:

print("Skip initializing and updating rosdep database")

else:

print("Ininitalize rosdep database")

apt_get_install(['lsb-release', 'python-rosdep'], sudo=sudo)

try:

call("rosdep init", self.env)

except:

print("Rosdep is already initialized")

call("rosdep update", self.env)

print("Building dictionaries from a rosdep's db")

raw_db = check_output("rosdep db", self.env, verbose=False).split('\n')

for entry in raw_db:

split_entry = entry.split(' -> ')

if len(split_entry) < 2:

continue

ros_entry = split_entry[0]

if split_entry[1]:

apt_entries = split_entry[1].split(' ')

else:

apt_entries = []

self.r2a[ros_entry] = apt_entries

for a in apt_entries:

self.a2r[a] = ros_entry

def to_aptlist(self, ros_entries):

res = []

for r in ros_entries:

for a in self.to_apt(r):

if not a in res:

res.append(a)

return res

def to_ros(self, apt_entry):

if apt_entry not in self.a2r:

print("Could not find %s in rosdep keys. Rosdep knows about these keys: %s" % (apt_entry, ', '.join(sorted(self.a2r.keys()))))

return self.a2r[apt_entry]

def to_apt(self, ros_entry):

if ros_entry not in self.r2a:

print("Could not find %s in keys. Have keys %s" % (ros_entry, ', '.join(sorted(self.r2a.keys()))))

return self.r2a[ros_entry]

def has_ros(self, ros_entry):

return ros_entry in self.r2a

def has_apt(self, apt_entry):