gazebo_ros_paths_plugin.cpp

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Author: John Hsu, Nate Koenig, Dave Coleman
 * Desc: External interfaces for Gazebo
 */
 
#include <gazebo/common/SystemPaths.hh>
#include <gazebo/common/Plugin.hh>
 
#include <ros/ros.h>
#include <ros/package.h>
 
#include <map>
 
#ifdef _WIN32
int setenv(const char *name, const char *value, int overwrite)
{
    int errcode = 0;
    if(!overwrite) {
        size_t envsize = 0;
        errcode = ::getenv_s(&envsize, NULL, 0, name);
        if(errcode || envsize) return errcode;
    }
    return ::_putenv_s(name, value);
}
#endif
 
namespace gazebo
{
 
typedef std::vector<std::string> V_string;
typedef std::map<std::string, std::string> M_string;
 
class GazeboRosPathsPlugin : public SystemPlugin
{
public:
  GazeboRosPathsPlugin()
  {
    this->LoadPaths();
  }
 
  ~GazeboRosPathsPlugin()
  {
  };
 
  void Init()
  {
  }
 
  void Load(int argc, char** argv)
  {
  }
 
  void LoadPaths()
  {
    // set gazebo media paths by adding all packages that exports "gazebo_media_path" for gazebo
    gazebo::common::SystemPaths::Instance()->gazeboPathsFromEnv = false;
    std::vector<std::string> gazebo_media_paths;
    ros::package::getPlugins("gazebo_ros","gazebo_media_path",gazebo_media_paths);
    for (std::vector<std::string>::iterator iter=gazebo_media_paths.begin(); iter != gazebo_media_paths.end(); iter++)
    {
      ROS_DEBUG_NAMED("paths_plugin", "Media path %s",iter->c_str());
      gazebo::common::SystemPaths::Instance()->AddGazeboPaths(iter->c_str());
    }
 
    // set gazebo plugins paths by adding all packages that exports "plugin_path" for gazebo
    gazebo::common::SystemPaths::Instance()->pluginPathsFromEnv = false;
    std::vector<std::string> plugin_paths;
    ros::package::getPlugins("gazebo_ros","plugin_path",plugin_paths);
    for (std::vector<std::string>::iterator iter=plugin_paths.begin(); iter != plugin_paths.end(); iter++)
    {
      ROS_DEBUG_NAMED("paths_plugin", "plugin path %s",(*iter).c_str());
      gazebo::common::SystemPaths::Instance()->AddPluginPaths(iter->c_str());
    }
 
    // set model paths by adding all packages that exports "gazebo_model_path" for gazebo
    gazebo::common::SystemPaths::Instance()->modelPathsFromEnv = false;
    std::vector<std::string> model_paths;
    ros::package::getPlugins("gazebo_ros","gazebo_model_path",model_paths);
    for (std::vector<std::string>::iterator iter=model_paths.begin(); iter != model_paths.end(); iter++)
    {
      ROS_DEBUG_NAMED("paths_plugin", "Model path %s",(*iter).c_str());
      gazebo::common::SystemPaths::Instance()->AddModelPaths(iter->c_str());
    }
 
    // set .gazeborc path to something else, so we don't pick up default ~/.gazeborc
    std::string gazeborc = ros::package::getPath("gazebo_ros")+"/.do_not_use_gazeborc";
    setenv("GAZEBORC",gazeborc.c_str(),1);
  }
 
};
 
// Register this plugin with the simulator
GZ_REGISTER_SYSTEM_PLUGIN(GazeboRosPathsPlugin)
 
}