Source Code for Module roslib.launcher

  1  #! /usr/bin/env python 
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 33   
 34  """ 
 35  Python path loader for python scripts and applications. Paths are 
 36  derived from dependency structure declared in ROS manifest files. 
 37  """ 
 38   
 39  import os 
 40  import sys 
 41   
 42  import rospkg 
 43   
 44  # bootstrapped keeps track of which packages we've loaded so we don't 
 45  # update the path multiple times 
 46  _bootstrapped = [] 
 47  # _rospack is our cache of ROS package data 
 48  _rospack = rospkg.RosPack() 
 49   
 50   
 51 -def get_depends(package, rospack): 
 52      vals = rospack.get_depends(package, implicit=True) 
 53      return [v for v in vals if not rospack.get_manifest(v).is_catkin] 
 54   
 55   
 56 -def load_manifest(package_name, bootstrap_version='0.7'): 
 57      """ 
 58      Update the Python sys.path with package's dependencies 
 59   
 60      :param package_name: name of the package that load_manifest() is being called from, ``str`` 
 61      """ 
 62      if package_name in _bootstrapped: 
 63          return 
 64      sys.path = _generate_python_path(package_name, _rospack) + sys.path 
 65   
 66   
 67 -def _append_package_paths(manifest_, paths, pkg_dir): 
 68      """ 
 69      Added paths for package to paths 
 70      :param manifest_: package manifest, ``Manifest`` 
 71      :param pkg_dir: package's filesystem directory path, ``str`` 
 72      :param paths: list of paths, ``[str]`` 
 73      """ 
 74      exports = manifest_.get_export('python', 'path') 
 75      if exports: 
 76          for export in exports: 
 77              if ':' in export: 
 78                  export = export.split(':') 
 79              else: 
 80                  export = [export] 
 81              for e in export: 
 82                  paths.append(e.replace('${prefix}', pkg_dir)) 
 83      else: 
 84          dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']] 
 85          paths.extend([d for d in dirs if os.path.isdir(d)]) 
 86   
 87   
 88 -def _generate_python_path(pkg, rospack): 
 89      """ 
 90      Recursive subroutine for building dependency list and python path 
 91      :raises: :exc:`rospkg.ResourceNotFound` If an error occurs while attempting to load package or dependencies 
 92      """ 
 93      if pkg in _bootstrapped: 
 94          return [] 
 95   
 96      # short-circuit if this is a catkin-ized package 
 97      m = rospack.get_manifest(pkg) 
 98      if m.is_catkin: 
 99          _bootstrapped.append(pkg) 
100          return [] 
101   
102      packages = get_depends(pkg, rospack) 
103      packages.append(pkg) 
104   
105      paths = [] 
106      try: 
107          for p in packages: 
108              m = rospack.get_manifest(p) 
109              d = rospack.get_path(p) 
110              _append_package_paths(m, paths, d) 
111              _bootstrapped.append(p) 
112      except Exception: 
113          if pkg in _bootstrapped: 
114              _bootstrapped.remove(pkg) 
115          raise 
116      return paths 
117