Package roslib :: Module packages

Module packages

Python utilities for manipulating ROS packages. See: http://ros.org/wiki/Packages

Warning: while most of this API is stable, some parts are still fairly experimental and incomplete. In particular, the ROSPackages class in very experimental.

Classes
	ROSPkgException Base class of package-related errors.
	InvalidROSPkgException Exception that indicates that a ROS package does not exist
	MultipleNodesException Exception that indicates that multiple ROS nodes by the same name are in the same package.
	ROSPackages UNSTABLE/EXPERIMENTAL

Functions

bool

is_pkg_dir(d)
Returns: True if d is the root directory of a ROS Package

source code

get_package_paths(ros_root_required=True, env=None)
Get the paths to search for packages

source code

(str, str)

get_dir_pkg(d)
Get the package that the directory is contained within.

source code

str

get_pkg_dir(package, required=True, ros_root=None, ros_package_path=None)
Locate directory package is stored in.

source code

str

get_pkg_subdir(package, subdir, required=True, env=None)
Returns: Package subdirectory if package exist, otherwise None.

source code

str

resource_file(package, subdir, resource_name)
Returns: path to resource in the specified subdirectory of the package, or None if the package does not exists

source code

[str]

list_pkgs(cache=None, env=None)
List packages in ROS_ROOT and ROS_PACKAGE_PATH.

source code

[str]

list_pkgs_by_path(path, packages=None, cache=None, env=None)
List ROS packages within the specified path.

source code

str

find_node(pkg, node_type, ros_root=None, ros_package_path=None)
Locate the executable that implements the node

source code

[str]

find_resource(pkg, resource_name, filter_fn=None, ros_root=None, ros_package_path=None)
Locate the file named resource_name in package, optionally matching specified filter

source code

{str: [str]}

rosdeps_of(packages)
Collect all rosdeps of specified packages into a dictionary.

source code

platform_supported(pkg, os, version)
Return whether the platform defined by os and version is marked as supported in the package @param pkg The package to test for support @param os The os name to test for support @param version The os version to test for support

source code

current_platform_supported(pkg)
Return whether the current running platform is marked as supported in the package @param pkg The package to test for support

source code

Variables
	MSG_DIR = `'msg'`
	SRV_DIR = `'srv'`
	SRC_DIR = `'src'`
	ROS_PACKAGE_PATH = `'ROS_PACKAGE_PATH'`
	ROS_ROOT = `'ROS_ROOT'`
	MANIFEST_FILE = `'manifest.xml'`
	__package__ = `'roslib'`

Function Details

is_pkg_dir(d)

source code

Parameters:

d (str) - directory location

Returns: bool

True if d is the root directory of a ROS Package

get_package_paths(ros_root_required=True, env=None)

source code

Get the paths to search for packages

Parameters:

ros_root_required (bool) - if True, raise exception if environment is invalid (i.e. ROS_ROOT is not set properly)
env (dict) - override os.environ dictionary

Raises:

roslib.rosenv.ROSEnvException - if ros_root_required is True and ROS_ROOT is not set

get_dir_pkg(d)

source code

Get the package that the directory is contained within. This is determined by finding the nearest parent manifest.xml file. This isn't 100% reliable, but symlinks can full any heuristic that relies on ROS_ROOT.

Parameters:

d (str) - directory path

Returns: (str, str)

(package_directory, package) of the specified directory, or None,None if not in a package

get_pkg_dir(package, required=True, ros_root=None, ros_package_path=None)

source code

Locate directory package is stored in. This routine uses an internal cache.

NOTE: cache does *not* rebuild if packages are relocated after this process is initiated.

Parameters:

package (str) - package name
required (bool) - if True, an exception will be raised if the package directory cannot be located.
ros_root (str) - if specified, override ROS_ROOT
ros_package_path (str) - if specified, override ROS_PACKAGE_PATH

Returns: str

directory containing package or None if package cannot be found and required is False.

Raises:

InvalidROSPkgException - if required is True and package cannot be located

get_pkg_subdir(package, subdir, required=True, env=None)

source code

Parameters:

required (bool) - if True, will attempt to create the subdirectory if it does not exist. An exception will be raised if this fails.
package (str) - name of package
env (dict) - override os.environ dictionary
required (bool) - if True, directory must exist

Returns: str

Package subdirectory if package exist, otherwise None.

Raises:

InvalidROSPkgException - if required is True and directory does not exist

resource_file(package, subdir, resource_name)

source code

Parameters:

subdir (str) - name of subdir -- these should be one of the string constants, e.g. MSG_DIR

Returns: str

path to resource in the specified subdirectory of the package, or None if the package does not exists

Raises:

roslib.packages.InvalidROSPkgException - If package does not exist

list_pkgs(cache=None, env=None)

source code

List packages in ROS_ROOT and ROS_PACKAGE_PATH.

If no cache and pkg_dirs arguments are provided, list_pkgs() will use internal _pkg_dir_cache and will return cached answers if available.

Parameters:

cache ({str: str, str, str}) - Empty dictionary to store package list in. The format of the cache is {package_name: dir_path, ros_root, ros_package_path}.

Returns: [str]

complete list of package names in ROS environment

list_pkgs_by_path(path, packages=None, cache=None, env=None)

source code

List ROS packages within the specified path.

Optionally, a cache dictionary can be provided, which will be updated with the package->path mappings. list_pkgs_by_path() does NOT returned cached results -- it only updates the cache.

Parameters:

path (str) - path to list packages in
packages ([str]) - list of packages to append to. If package is already present in packages, it will be ignored.
cache ({str: str}) - (optional) package path cache to update. Maps package name to directory path.

Returns: [str]

complete list of package names in ROS environment. Same as packages parameter.

find_node(pkg, node_type, ros_root=None, ros_package_path=None)

source code

Locate the executable that implements the node

Parameters:

node_type (str) - type of node
ros_root (str) - if specified, override ROS_ROOT
ros_package_path (str) - if specified, override ROS_PACKAGE_PATH

Returns: str

path to node or None if node is not in the package

Raises:

roslib.packages.InvalidROSPkgException - If package does not exist

find_resource(pkg, resource_name, filter_fn=None, ros_root=None, ros_package_path=None)

source code

Locate the file named resource_name in package, optionally matching specified filter

Parameters:

filter (fn(str)) - function that takes in a path argument and returns True if the it matches the desired resource
ros_root (str) - if specified, override ROS_ROOT
ros_package_path (str) - if specified, override ROS_PACKAGE_PATH

Returns: [str]

lists of matching paths for resource

Raises:

roslib.packages.InvalidROSPkgException - If package does not exist

rosdeps_of(packages)

source code

Collect all rosdeps of specified packages into a dictionary.

Parameters:

packages ([str]) - package names

Returns: {str: [str]}

dictionary mapping package names to list of rosdep names.