util.cpp
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34 
36 #include <ros/ros.h>
37 #include <ros/package.h>
38 #include <string>
39 
40 namespace global_planner_tests
41 {
42 
43 std::string resolve_filename(const std::string& filename)
44 {
45  std::string mod_filename = filename;
46  if (filename.find("package://") == 0)
47  {
48  mod_filename.erase(0, strlen("package://"));
49  size_t pos = mod_filename.find("/");
50  if (pos == std::string::npos)
51  {
52  throw ros::Exception("Could not parse package:// format into file:// format");
53  }
54 
55  std::string package = mod_filename.substr(0, pos);
56  mod_filename.erase(0, pos);
57  std::string package_path = ros::package::getPath(package);
58 
59  if (package_path.empty())
60  {
61  throw ros::Exception("Package [" + package + "] does not exist");
62  }
63 
64  mod_filename = package_path + mod_filename;
65  }
66  return mod_filename;
67 }
68 
69 
70 } // namespace global_planner_tests
std::string resolve_filename(const std::string &filename)
Replace a package:// prefix with the actual path to the given package.
Definition: util.cpp:43
string package
ROSLIB_DECL std::string getPath(const std::string &package_name)


global_planner_tests
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autogenerated on Wed Jun 26 2019 20:06:09