RosUtilities.java

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package edu.tum.cs.ias.knowrob.utils.ros;

import java.io.*;
import java.util.HashMap;
import java.util.UUID;

import com.google.common.base.Joiner;


public class RosUtilities {

        static HashMap<String, Process> processMap = new HashMap<String, Process>();
        
    public static String rospackFind(String pkg) {

        String path = null;
        try {
                
        
            Process p = Runtime.getRuntime().exec("rospack find " + pkg);
            
            if(p.waitFor()==127) {
            //  throw new RuntimeException("External program 'rospack' not found");
            }

            BufferedReader out = new BufferedReader(new InputStreamReader(p.getInputStream()));
            BufferedReader err = new BufferedReader(new InputStreamReader(p.getErrorStream()));

            if ((path = out.readLine()) != null){
                ;//System.out.println("Package: " + pkg + ", Path: " + path);                    
            } else {
                
                // print error output
                String l = null;
                while ( (l = err.readLine()) != null)
                    System.out.println(l);
                
                ;//System.out.println("Package: " + pkg + ", Error: package not found!");
            }
        }
        catch (Exception e)
        {
            e.printStackTrace();
        }
        return path;
    }
    

    public static String rosrun(String pkg, String binary, String[] arg) throws IOException {

        String handle = null;
        try
        {
                String args = Joiner.on(" ").join(arg);
                Process p = Runtime.getRuntime().exec("rosrun " + pkg + " " + binary + " " + args);

                handle = UUID.randomUUID().toString();
            processMap.put(handle, p);
            
        }
        catch (Exception e)
        {
            e.printStackTrace();
        }
        return handle;
    }
    
    public static void kill(String handle) {
        processMap.get(handle).destroy();
    }
    
}