xacro.py

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#! /usr/bin/env python
# Copyright (c) 2015, Open Source Robotics Foundation, Inc.
# Copyright (c) 2013, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Open Source Robotics Foundation, Inc. nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# Authors: Stuart Glaser, William Woodall, Robert Haschke
# Maintainer: Morgan Quigley <morgan@osrfoundation.org>

#### READ THIS! THIS FILE ONLY FOR BACKWARDS COMPATIBILITY!!!!!!
#
# this script is just for backwards compatibility. the roslaunch $(find ...)
# expects the script to be in the package directory, and in catkin
# the package direcory is the share directory. going forward, we should
# transition to scripts/xacro

from __future__ import print_function

# Guard against self import
import os
import sys
backup_path = list(sys.path)
this_dir = os.path.dirname(__file__)
# Use os.getcwd() to avoid weird symbolic link problems
cur_dir = os.getcwd()
os.chdir(this_dir)
this_dir_cwd = os.getcwd()
os.chdir(cur_dir)
# Remove this dir from path
sys.path = filter(lambda a: a not in [this_dir, this_dir_cwd], sys.path)

import xacro
from xacro.color import warning

# Restore the path
sys.path = backup_path

xacro.main()

# issue deprecation warning
warning('xacro.py is deprecated; please use xacro instead')