00001 import roslib; roslib.load_manifest('resource_retriever2')
00002 import rospy
00003 import subprocess
00004 import urlgrabber, string
00005
00006 PACKAGE_PREFIX = 'package://'
00007
00008 def rospack_find(package):
00009 process = subprocess.Popen(['rospack', 'find', package], shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
00010 (stdout, stderr) = process.communicate()
00011 if len(stderr) > 0:
00012 raise Exception(stderr)
00013 else:
00014 return string.strip(stdout)
00015
00016 def get(url):
00017 mod_url = url
00018 if url.find(PACKAGE_PREFIX) == 0:
00019 mod_url = url[len(PACKAGE_PREFIX):]
00020 pos = mod_url.find('/')
00021 if pos == -1:
00022 raise Exception("Could not parse package:// format into file:// format for "+url)
00023
00024 package = mod_url[0:pos]
00025 mod_url = mod_url[pos:]
00026 package_path = rospack_find(package)
00027
00028 mod_url = "file://" + package_path + mod_url;
00029
00030 return urlgrabber.urlopen(mod_url)
00031
