Package roslib :: Module packages

Module packages

Warning: do not use this library. It is unstable and most of the routines here have been superceded by other libraries (e.g. rospkg). These routines will likely be *deleted* in future releases.

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.

Functions

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

source code

find_node(pkg, node_type, rospack=None)
Warning: unstable API due to catkin.

source code

find_resource(pkg, resource_name, filter_fn=None, rospack=None)
Warning: unstable API due to catkin.

source code

Variables
	SRC_DIR = `'src'`
	ROS_PACKAGE_PATH = `'ROS_PACKAGE_PATH'`
	ROS_ROOT = `'ROS_ROOT'`
	MANIFEST_FILE = `'manifest.xml'`
	PACKAGE_FILE = `'package.xml'`
	__package__ = `'roslib'`

Function Details

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 fool 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_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, rospack=None)

source code

Warning: unstable API due to catkin.

Locate the executable that implements the node

:param node_type: type of node, ``str`` :returns: path to node or None if node is not in the package ``str`` :raises: :exc:rospkg.ResourceNotFound` If package does not exist

find_resource(pkg, resource_name, filter_fn=None, rospack=None)

source code


Warning: unstable API due to catkin.

Locate the file named resource_name in package, optionally
matching specified filter.  find_resource() will return a list of
matches, but only for a given scope.  If the resource is found in
the binary build directory, it will only return matches in that
directory; it will not return matches from the ROS_PACKAGE_PATH as
well in this case.

:param filter: function that takes in a path argument and
    returns True if the it matches the desired resource, ``fn(str)``
:param rospack: `rospkg.RosPack` instance to use
:returns: lists of matching paths for resource within a given scope, ``[str]``
:raises: :exc:`rospkg.ResourceNotFound` If package does not exist