Source Code for Module roslib.launcher

  1  #! /usr/bin/env python 
  2  # Software License Agreement (BSD License) 
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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 -def get_depends(package, rospack): 
 51      vals = rospack.get_depends(package, implicit=True) 
 52      return [v for v in vals if not rospack.get_manifest(v).is_catkin] 
 53   
 54 -def load_manifest(package_name, bootstrap_version="0.7"): 
 55      """ 
 56      Update the Python sys.path with package's dependencies 
 57   
 58      :param package_name: name of the package that load_manifest() is being called from, ``str`` 
 59      """ 
 60      if package_name in _bootstrapped: 
 61          return 
 62      sys.path = _generate_python_path(package_name, _rospack) + sys.path 
 63       
 64 -def _append_package_paths(manifest_, paths, pkg_dir): 
 65      """ 
 66      Added paths for package to paths 
 67      :param manifest_: package manifest, ``Manifest`` 
 68      :param pkg_dir: package's filesystem directory path, ``str`` 
 69      :param paths: list of paths, ``[str]`` 
 70      """ 
 71      exports = manifest_.get_export('python','path') 
 72      if exports: 
 73          for export in exports: 
 74              if ':' in export: 
 75                  export = export.split(':') 
 76              else: 
 77                  export = [export] 
 78              for e in export: 
 79                  paths.append(e.replace('${prefix}', pkg_dir)) 
 80      else: 
 81          dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']] 
 82          paths.extend([d for d in dirs if os.path.isdir(d)]) 
 83       
 84 -def _generate_python_path(pkg, rospack): 
 85      """ 
 86      Recursive subroutine for building dependency list and python path 
 87      :raises: :exc:`rospkg.ResourceNotFound` If an error occurs while attempting to load package or dependencies 
 88      """ 
 89      if pkg in _bootstrapped: 
 90          return [] 
 91   
 92      # short-circuit if this is a catkin-ized package 
 93      m = rospack.get_manifest(pkg) 
 94      if m.is_catkin: 
 95          _bootstrapped.append(pkg) 
 96          return [] 
 97   
 98      packages = get_depends(pkg, rospack)  
 99      packages.append(pkg) 
100   
101      paths = [] 
102      try: 
103          for p in packages: 
104              m = rospack.get_manifest(p) 
105              d = rospack.get_path(p) 
106              _append_package_paths(m, paths, d) 
107              _bootstrapped.append(p) 
108      except: 
109          if pkg in _bootstrapped: 
110              _bootstrapped.remove(pkg) 
111          raise 
112      return paths 
113