util.cpp

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#include <global_planner_tests/util.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <string>

namespace global_planner_tests
{

std::string resolve_filename(const std::string& filename)
{
  std::string mod_filename = filename;
  if (filename.find("package://") == 0)
  {
    mod_filename.erase(0, strlen("package://"));
    size_t pos = mod_filename.find("/");
    if (pos == std::string::npos)
    {
      throw ros::Exception("Could not parse package:// format into file:// format");
    }

    std::string package = mod_filename.substr(0, pos);
    mod_filename.erase(0, pos);
    std::string package_path = ros::package::getPath(package);

    if (package_path.empty())
    {
      throw ros::Exception("Package [" + package + "] does not exist");
    }

    mod_filename = package_path + mod_filename;
  }
  return mod_filename;
}


}  // namespace global_planner_tests