xacro.py

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#! /usr/bin/env python
# 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 Willow Garage, 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
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# POSSIBILITY OF SUCH DAMAGE.

# Author: Stuart Glaser
# Maintainer: William Woodall <wwoodall@willowgarage.com>

#### 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)

if __name__ == '__main__':
    if '--inorder' in sys.argv:
        import xacro_jade
        sys.path = backup_path # Restore the path
        xacro_jade.main()
    else:
        import xacro
        sys.path = backup_path # Restore the path
        xacro.main()