pax_global_header00006660000000000000000000000064136034301370014512gustar00rootroot0000000000000052 comment=34d23facd51fd089ed272f4811562271f8816a71 rospkg-1.2.3/000077500000000000000000000000001360343013700130225ustar00rootroot00000000000000rospkg-1.2.3/.gitignore000066400000000000000000000002141360343013700150070ustar00rootroot00000000000000syntax: glob *.orig *.swp *.pyc *.DS_Store *~ *.log .coverage nosetests.xml src/rospkg.egg-info syntax: regexp (target|build|dist)/.* dist rospkg-1.2.3/.travis.yml000066400000000000000000000005731360343013700151400ustar00rootroot00000000000000language: python python: - "2.7" - "3.4" - "3.5" - "3.6" - "3.7" - "3.8" # command to install dependencies install: # develop seems to be required by travis since 02/2013 - python setup.py build develop - pip install nose coverage # command to run tests script: - nosetests --with-coverage --cover-package=rospkg --with-xunit test notifications: email: false rospkg-1.2.3/CMakeLists.txt000066400000000000000000000003551360343013700155650ustar00rootroot00000000000000cmake_minimum_required(VERSION 2.8.0) project(rospkg) find_package(catkin) catkin_stack() catkin_project(rospkg ) catkin_python_setup() install(FILES stack.yaml DESTINATION share/${PROJECT_NAME}) add_nosetests(${PROJECT_SOURCE_DIR}) rospkg-1.2.3/Makefile000066400000000000000000000007431360343013700144660ustar00rootroot00000000000000.PHONY: all setup clean_dist distro clean install testsetup test NAME=rospkg VERSION=`./setup.py --version` all: echo "noop for debbuild" setup: echo "building version ${VERSION}" clean_dist: -rm -f MANIFEST -rm -rf dist -rm -rf deb_dist distro: setup clean_dist python setup.py sdist clean: clean_dist echo "clean" install: distro sudo checkinstall python setup.py install testsetup: echo "running rospkg tests" test: testsetup cd test && nosetests && nosetests3 rospkg-1.2.3/README.md000066400000000000000000000002351360343013700143010ustar00rootroot00000000000000rospkg ----- Standalone Python library for the ROS package system. [ROS Packages Users/Developers Guide](http://docs.ros.org/independent/api/rospkg/html/) rospkg-1.2.3/doc/000077500000000000000000000000001360343013700135675ustar00rootroot00000000000000rospkg-1.2.3/doc/Makefile000066400000000000000000000111221360343013700152240ustar00rootroot00000000000000# Makefile for Sphinx documentation # # You can set these variables from the command line. SPHINXOPTS = SPHINXBUILD = sphinx-build PAPER = BUILDDIR = _build # Internal variables. PAPEROPT_a4 = -D latex_paper_size=a4 PAPEROPT_letter = -D latex_paper_size=letter ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . .PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest help: @echo "Please use \`make ' where is one of" @echo " html to make standalone HTML files" @echo " dirhtml to make HTML files named index.html in directories" @echo " singlehtml to make a single large HTML file" @echo " pickle to make pickle files" @echo " json to make JSON files" @echo " htmlhelp to make HTML files and a HTML help project" @echo " qthelp to make HTML files and a qthelp project" @echo " devhelp to make HTML files and a Devhelp project" @echo " epub to make an epub" @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter" @echo " latexpdf to make LaTeX files and run them through pdflatex" @echo " text to make text files" @echo " man to make manual pages" @echo " changes to make an overview of all changed/added/deprecated items" @echo " linkcheck to check all external links for integrity" @echo " doctest to run all doctests embedded in the documentation (if enabled)" clean: -rm -rf $(BUILDDIR)/* html: $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html @echo @echo "Build finished. The HTML pages are in $(BUILDDIR)/html." dirhtml: $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml @echo @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml." singlehtml: $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml @echo @echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml." pickle: $(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle @echo @echo "Build finished; now you can process the pickle files." json: $(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json @echo @echo "Build finished; now you can process the JSON files." htmlhelp: $(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp @echo @echo "Build finished; now you can run HTML Help Workshop with the" \ ".hhp project file in $(BUILDDIR)/htmlhelp." qthelp: $(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp @echo @echo "Build finished; now you can run "qcollectiongenerator" with the" \ ".qhcp project file in $(BUILDDIR)/qthelp, like this:" @echo "# qcollectiongenerator $(BUILDDIR)/qthelp/rospkg.qhcp" @echo "To view the help file:" @echo "# assistant -collectionFile $(BUILDDIR)/qthelp/rospkg.qhc" devhelp: $(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp @echo @echo "Build finished." @echo "To view the help file:" @echo "# mkdir -p $$HOME/.local/share/devhelp/rospkg" @echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/rospkg" @echo "# devhelp" epub: $(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub @echo @echo "Build finished. The epub file is in $(BUILDDIR)/epub." latex: $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex @echo @echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex." @echo "Run \`make' in that directory to run these through (pdf)latex" \ "(use \`make latexpdf' here to do that automatically)." latexpdf: $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex @echo "Running LaTeX files through pdflatex..." make -C $(BUILDDIR)/latex all-pdf @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex." text: $(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text @echo @echo "Build finished. The text files are in $(BUILDDIR)/text." man: $(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man @echo @echo "Build finished. The manual pages are in $(BUILDDIR)/man." changes: $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes @echo @echo "The overview file is in $(BUILDDIR)/changes." linkcheck: $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck @echo @echo "Link check complete; look for any errors in the above output " \ "or in $(BUILDDIR)/linkcheck/output.txt." doctest: $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest @echo "Testing of doctests in the sources finished, look at the " \ "results in $(BUILDDIR)/doctest/output.txt." upload: html scp -r _build/html/ rosbot@ros.osuosl.org:/home/rosbot/docs/independent/api/rospkg/ rospkg-1.2.3/doc/_templates/000077500000000000000000000000001360343013700157245ustar00rootroot00000000000000rospkg-1.2.3/doc/_templates/index.html000066400000000000000000000041721360343013700177250ustar00rootroot00000000000000{% extends "layout.html" %} {% set title = 'ROS packages' %} {% block body %}

Welcome

The ROS packaging system simplifies development and distribution of code libraries. It enable you to easily specify dependencies between code libraries, easily interact with those libraries from the command-line, and release your code for others to use.

ROS packages are designed to support building and running code in local code trees. This is useful for developing software on multi-developer systems, such as robots, where there may be multiple versions of a library in use, and code is being contributed from multiple sources. It is also design to support modular code that is easily shared with other developers.

Documentation

Package system overview
Overview of the ROS concepts like packages, stacks, and manifests.

Command-line tools
rospack, rosstack, rosdep, and more

Environment variables
Package-system-related environment variables like ROS_PACKAGE_PATH.

Python API (rospkg)
Code API documenation for using the rospkg Python library

Tutorials
TODO

File formats
Documentation for manifest and other file formats

{% endblock %} rospkg-1.2.3/doc/command_line.rst000066400000000000000000000002101360343013700167370ustar00rootroot00000000000000Command-line Tools ================== .. toctree:: :maxdepth: 2 rospack rosstack .. seealso:: :ref:`rosdep2 ` rospkg-1.2.3/doc/conf.py000066400000000000000000000170021360343013700150660ustar00rootroot00000000000000# -*- coding: utf-8 -*- # # rospkg documentation build configuration file, created by # sphinx-quickstart on Thu Aug 4 20:58:04 2011. # # This file is execfile()d with the current directory set to its containing dir. # # Note that not all possible configuration values are present in this # autogenerated file. # # All configuration values have a default; values that are commented out # serve to show the default. import sys, os sys.path.insert(0, os.path.abspath('../src')) import rospkg import catkin_sphinx # If extensions (or modules to document with autodoc) are in another directory, # add these directories to sys.path here. If the directory is relative to the # documentation root, use os.path.abspath to make it absolute, like shown here. #sys.path.insert(0, os.path.abspath('.')) # -- General configuration ----------------------------------------------------- # If your documentation needs a minimal Sphinx version, state it here. #needs_sphinx = '1.0' # Add any Sphinx extension module names here, as strings. They can be extensions # coming with Sphinx (named 'sphinx.ext.*') or your custom ones. extensions = ['sphinx.ext.doctest', 'sphinx.ext.coverage', 'sphinx.ext.viewcode', 'sphinx.ext.autosummary', 'sphinx.ext.intersphinx'] # Add any paths that contain templates here, relative to this directory. templates_path = ['_templates'] # The suffix of source filenames. source_suffix = '.rst' # The encoding of source files. #source_encoding = 'utf-8-sig' # The master toctree document. master_doc = 'contents' # General information about the project. project = u'ROS packages' copyright = u'2011, Willow Garage' intersphinx_mapping = { 'vcstools': ('http://docs.ros.org/independent/api/vcstools/html', None), 'rosinstall': ('http://docs.ros.org/independent/api/rosinstall/html', None), 'rosdep2': ('http://docs.ros.org/independent/api/rosdep/html', None), } # The version info for the project you're documenting, acts as replacement for # |version| and |release|, also used in various other places throughout the # built documents. # # The short X.Y version. version = rospkg.__version__ # The full version, including alpha/beta/rc tags. release = version # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. #language = None # There are two options for replacing |today|: either, you set today to some # non-false value, then it is used: #today = '' # Else, today_fmt is used as the format for a strftime call. #today_fmt = '%B %d, %Y' # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. exclude_patterns = ['_build'] # The reST default role (used for this markup: `text`) to use for all documents. #default_role = None # If true, '()' will be appended to :func: etc. cross-reference text. #add_function_parentheses = True # If true, the current module name will be prepended to all description # unit titles (such as .. function::). #add_module_names = True # If true, sectionauthor and moduleauthor directives will be shown in the # output. They are ignored by default. #show_authors = False # The name of the Pygments (syntax highlighting) style to use. pygments_style = 'sphinx' # A list of ignored prefixes for module index sorting. #modindex_common_prefix = [] # -- Options for HTML output --------------------------------------------------- # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. html_theme_path = [os.path.join(os.path.dirname(catkin_sphinx.__file__), 'theme')] html_theme = 'ros-theme' # Theme options are theme-specific and customize the look and feel of a theme # further. For a list of options available for each theme, see the # documentation. #html_theme_options = {} html_logo = 'ros.png' # Add any paths that contain custom themes here, relative to this directory. #html_theme_path = [] # The name for this set of Sphinx documents. If None, it defaults to # " v documentation". #html_title = None # A shorter title for the navigation bar. Default is the same as html_title. #html_short_title = None # The name of an image file (relative to this directory) to place at the top # of the sidebar. #html_logo = None # The name of an image file (within the static path) to use as favicon of the # docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 # pixels large. #html_favicon = None # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = ['_static'] # If not '', a 'Last updated on:' timestamp is inserted at every page bottom, # using the given strftime format. #html_last_updated_fmt = '%b %d, %Y' # If true, SmartyPants will be used to convert quotes and dashes to # typographically correct entities. #html_use_smartypants = True # Custom sidebar templates, maps document names to template names. #html_sidebars = {} # Additional templates that should be rendered to pages, maps page names to # template names. html_additional_pages = {'index': 'index.html'} # If false, no module index is generated. #html_domain_indices = True # If false, no index is generated. #html_use_index = True # If true, the index is split into individual pages for each letter. #html_split_index = False # If true, links to the reST sources are added to the pages. #html_show_sourcelink = True # If true, "Created using Sphinx" is shown in the HTML footer. Default is True. #html_show_sphinx = True # If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. #html_show_copyright = True # If true, an OpenSearch description file will be output, and all pages will # contain a tag referring to it. The value of this option must be the # base URL from which the finished HTML is served. #html_use_opensearch = '' # This is the file name suffix for HTML files (e.g. ".xhtml"). #html_file_suffix = None # Output file base name for HTML help builder. htmlhelp_basename = 'rospkgdoc' # -- Options for LaTeX output -------------------------------------------------- # The paper size ('letter' or 'a4'). #latex_paper_size = 'letter' # The font size ('10pt', '11pt' or '12pt'). #latex_font_size = '10pt' # Grouping the document tree into LaTeX files. List of tuples # (source start file, target name, title, author, documentclass [howto/manual]). latex_documents = [ ('index', 'rospkg.tex', u'ROS Package Documentation', u'Eric Berger, Ken Conley, Josh Faust, Tully Foote, Brian Gerkey, Jeremy Leibs, Morgan Quigley, Rob Wheeler', 'manual'), ] # The name of an image file (relative to this directory) to place at the top of # the title page. #latex_logo = None # For "manual" documents, if this is true, then toplevel headings are parts, # not chapters. #latex_use_parts = False # If true, show page references after internal links. #latex_show_pagerefs = False # If true, show URL addresses after external links. #latex_show_urls = False # Additional stuff for the LaTeX preamble. #latex_preamble = '' # Documents to append as an appendix to all manuals. #latex_appendices = [] # If false, no module index is generated. #latex_domain_indices = True # -- Options for manual page output -------------------------------------------- # One entry per manual page. List of tuples # (source start file, name, description, authors, manual section). man_pages = [ ('man/rosversion', 'rosversion', u'rosverion command', [u'Ken Conley'], 1) ] rospkg-1.2.3/doc/contents.rst000066400000000000000000000001701360343013700161540ustar00rootroot00000000000000Contents ======== .. toctree:: :maxdepth: 2 overview file_formats command_line python_api tutorials rospkg-1.2.3/doc/developers_guide.rst000066400000000000000000000037211360343013700176510ustar00rootroot00000000000000Developer's Guide ================= REP 114: rospkg standalone library ---------------------------------- The rospkg library is being developed using the ROS REP process. It was introduced in `REP 114: rospkg standalone library `_. Please read REP 114 to better understand the motivation and goals of the rospkg library. Bug reports and feature requests -------------------------------- - `Submit a bug report / a feature request `_ Getting the code ---------------- rospkg is hosted on GitHub. To start developing for it, please create a fork: https://github.com/ros-infrastructure/rospkg Developing new OsDetectors -------------------------- Developing a new :class:`OsDetector` is fairly straightforward. There are many examples in ``os_detect.py``. If you contribute a :class:`OsDetector`, you *must* provide complete unit test coverage. For example, if your detector relies on parsing ``/etc/issue`` files, you must submit example ``/etc/issue`` files along with tests that parse them correctly. Test files for os detection should be placed in ``test/os_detect/os_name``. If you submit a new detector, the documentation in ``doc/os_detect.rst`` must be updated as well. Testing ------- Setup :: pip install nose pip install mock rospkg uses `Python nose `_ for testing, which is a fairly simple and straightfoward test framework. You just have to write a function start with the name ``test`` and use normal ``assert`` statements for your tests. rospkg also uses `mock `_ to create mocks for testing. You can run the tests, including coverage, as follows: :: cd rospkg nosetests test/*.py --with-coverage --cover-package=rospkg Documentation ------------- Sphinx is used to provide API documentation for rospkg. The documents are stored in the ``doc`` subdirectory. rospkg-1.2.3/doc/distro_format.rst000066400000000000000000000226161360343013700172040ustar00rootroot00000000000000.. _distro_format: rosdistro file format ===================== rosdistro is a file format for managing `ROS Distribution release `_ and the ROS stacks they contain. This file format is used as input to a variety of tools in the ROS build and release toolchain, from stack release tools to rosdoc. The file format itself is a YAML-based description of a collection of ROS stacks. There are two roles of information in the rosdistro file: - *Building*: What versions of stacks are included in the distribution release - *Continuous integration and release*: Source control information of stacks in the release .. contents:: Table of Contents :depth: 3 Examples -------- - `cturtle.rosdistro `_ - `electric.rosdistro `_ Main Sections ------------- The rosdistro document is a YAML mapping. This mapping has several main sections: `_rules` Top-level, named rules for stacks. Rules describe the URLs where stacks can be found in source control, ``{rule-name: {source-control-rules}}``. Example:: _rules: alufr-ros-pkg: repo: alufr-ros-pkg svn: dev: https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME distro-tag: https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME release-tag: https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION `release` Name of this release, ``string`` Example:: release: electric `variants` This section lists the variants (aka debian metapackages) that are described by this file. *Type*: ordered sequence of mappings, ``{distribution-name: [stack-names]}`` Example:: variants: - ros-base: stacks: [ros, ros_comm, common_rosdeps] `stacks` This section lists release information about the stacks that are included in the distribution. This information ranges from the version number of the release to URLs that are used for source control. NOTE: the `_uri_rules` key can appear at any level in this tree of mappings. *Type*: unordered list of mappings ``{stack-name: {stack-properties}}`` Example:: stacks: _rules: ros-pkg-trunk arbotix: {_rules: vanadium-ros-pkg, version: 0.6.0} `version` *DEPRECATED*: Version number for this file. Version numbers may be used by tools, such as the debian package builder, to determine whether or not to generate new output. You can use the `$Revision: $` `svn:keyword` to track the SVN revision Id of the file. *Type*: ``int`` or special ``$Revision: VERSION $`` string. _rules ~~~~~~ `_rules` are URL format strings that are used for determining the location of source code related to a stack. variants ~~~~~~~~ The `variants` section lists groupings of stacks that you wish to install together. They map directly to debian metapackages. In addition to providing a list of stack names, variants may also specify that they extend another variant. Example:: variants: - core: stacks: [ros, rx] - extended: extends: core stacks: [common, common_msgs, geometry] stacks ~~~~~~ Each key in the `stacks` section describes information about a particular stack, e.g.:: mystack: {version: 0.7.3} In this example, the stack is named ``mystack``. It has a version 0.7.3 release. A stack may also contain a ``_rules`` key, which overrides any higher-level ``_rules`` values. Version Control _rules ---------------------- Repo _rule ~~~~~~~~~~ TODO: reorg this comment. There should be a rule stating the repo name: ``repo: ros-pkg`` SVN _rules ~~~~~~~~~~ *Required keys* ``dev`` URL of your development branch. This often refers to a code branch, like ``trunk``. ``release-tag`` URL for version-specific release tag to create (e.g. ``tags/ros-1.2.1``). Release tags are generally for ''immutable'' references to code. The ``release-tag`` is generally used for building binaries, i.e. debian packages. This allows us to rollback releases in the debian system if there is a problem. ``distro-tag`` URL for the distribution release tag to create. This is a moving tag that allows people to track releases for a specific distribution release (e.g. ``tags/cturtle``). The ``distro-tag`` is generally used for source-based installs. They allow users to ``svn up`` and get newer updates. *Optional keys* We define three more rules that are necessary if your repository uses separate URLs for anonymous access. ``anon-dev`` *anonymously readable* URL of your development branch ``anon-distro-tag`` *anonymously readable* URL for the distribution release tag to create. This is a moving tag that allows people to track releases for a specific distribution release (e.g. ``tags/cturtle``). ``anon-release-tag`` *anonymously readable* URL for version-specific release tag to create (e.g. ``tags/ros-1.2.1``). You do not have to define these rules your repository provides anonymous access at the ``dev``/``distro-tag``/``release-tag`` URLs. SVN example:: svn: anon-dev: http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk anon-distro-tag: http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME anon-release-tag: http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION dev: https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk distro-tag: https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME release-tag: https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION Distributed VCS _rules (hg, git, bzr) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Mercurial, Git, and Bazaar we use a standard set of keys for distributed VCS systems. *Required keys* ``uri`` The URI for the repo. For example ``https://stack-nxt-robots.foote-ros-pkg.googlecode.com/hg`` ``dev-branch`` The name of the branch in which development is being focused for this distro, for example ``default`` in hg or ``master`` in git are common here. After branching for diamondback it may be ``1.3`` ``distro-tag`` The tag to pull which tracks the latest release in this distro often just ``$RELEASE_NAME`` ``release-tag`` The rule for how to generated numbered release tags. Commonly just ``$STACK_NAME-$STACK_VERSION`` *Optional key* ``anon-uri`` The URI for the repo that is used for anonymous access to your repo. Not necessary if ``uri`` is valid for anonymous access. Bazaar example:: bzr: anon-uri: lp:sr-ros-interface uri: bzr+ssh://bazaar.launchpad.net/~shadowrobot/sr-ros-interface dev-branch: stable distro-tag: $RELEASE_NAME release-tag: $STACK_NAME-$STACK_VERSION Git example:: git: anon-uri: http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git uri: git@git.mech.kuleuven.be:robotics/rtt_ros_integration.git dev-branch: master distro-tag: $RELEASE_NAME release-tag: $STACK_NAME-$STACK_VERSION Mercurial example:: hg: uri: https://kforge.ros.org/simplecap/simple_capture dev-branch: default distro-tag: $RELEASE_NAME release-tag: $STACK_NAME-$STACK_VERSION _rules Variables ~~~~~~~~~~~~~~~~ You can use several variables that make writing these rules easier and re-usable: ``$STACK_NAME`` Name of stack. ``$STACK_VERSION`` Version of stack. ``$DISTRO_NAME`` Name of distribution release. Top-level _rules ~~~~~~~~~~~~~~~~ Top-level rules are named configuration dictionaries that can be used by stacks declarations. Here is an example SVN rule that defines releases for releasing stacks in `ros-pkg` that use `trunk` as the development branch:: _rules: [OTHER RULE DEFINITIONS] ros-pkg-trunk: svn: dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/trunk' distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME' release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION' Stack _rules ~~~~~~~~~~~~ In most cases, stacks usually refer to named, top-level rules like so:: stacks: [OTHER STACK DEFINITIONS] pr2_navigation: _rules: wg-ros-pkg-trunk version: 0.1.0 [OTHER STACK DEFINITIONS] In this case, the ``pr2_navigation`` stack will use the rules named ``wg-ros-pkg-trunk``, which must be declared in the top-level ``_rules`` section. In some cases, individual stacks may wish to provide their own rules. If you are just doing a release off a temporary branch, or otherwise, this can be the easiest way of cleanly specifying new rules. Example:: stacks: [OTHER STACK DEFINITIONS] pr2_navigation: _rules: svn: dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/cturtle_branch' distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME' release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION' version: 0.1.4 rospkg-1.2.3/doc/environment.rst000066400000000000000000000033031360343013700166640ustar00rootroot00000000000000Environment Variables ===================== The following are environment variables that are observed by the ROS packaging system. This listing does not include environment variables for the ROS communication middleware (e.g. :envvar:`ROS_MASTER_URI`, :envvar:`ROS_HOSTNAME`). Essential --------- .. data:: ROS_PACKAGE_PATH Path(s) to ROS packages and stacks to include in the build and runtime environment. :envvar:`ROS_PACKAGE_PATH` can be composed of one or more paths separated by your standard OS path separator (e.g. ':' on Unix-like systems). If there are multiple packages or stacks with the same name, ROS will choose the one that appears on :envvar:`ROS_PACKAGE_PATH` first. .. data:: ROS_ROOT This is a *required* environment variable, but it is only provided for backwards compatibility. Historically, it is the path to the ROS stack. For ROS Fuerte and later, it is the path to a backwards-compatibility support directory. Optional -------- .. data:: ROS_HOME Override path to :envvar:`ROS_HOME`, which is where log files and other user-specific assets are stored. By default this is `~/.ros/`. .. data:: ROS_LOG_DIR Override path to directory where log files are written. By default this is :envvar:`ROS_HOME`/log. .. data:: ROS_TEST_RESULTS_DIR Override path to directory where teset results are written. By default this is is :envvar:`ROS_HOME`/test_results. .. data:: ROS_DISTRO .. versionadded:: Fuerte Override name of the currently active ROS distribution. By default, this value is read from :envvar:`ROS_ETC_DIR`/distro. .. data:: ROS_ETC_DIR .. versionadded:: Fuerte Override path to `/etc/ros` directory. rospkg-1.2.3/doc/file_formats.rst000066400000000000000000000001471360343013700167750ustar00rootroot00000000000000File formats ============ .. toctree:: :maxdepth: 2 manifest_xml stack_xml distro_format rospkg-1.2.3/doc/man/000077500000000000000000000000001360343013700143425ustar00rootroot00000000000000rospkg-1.2.3/doc/man/rosversion.1000066400000000000000000000026541360343013700166440ustar00rootroot00000000000000.TH "ROSVERSION" "1" "January 12, 2012" "0.10.1" "ROS packages" .SH NAME rosversion \- rosverion command . .nr rst2man-indent-level 0 . .de1 rstReportMargin \\$1 \\n[an-margin] level \\n[rst2man-indent-level] level margin: \\n[rst2man-indent\\n[rst2man-indent-level]] - \\n[rst2man-indent0] \\n[rst2man-indent1] \\n[rst2man-indent2] .. .de1 INDENT .\" .rstReportMargin pre: . RS \\$1 . nr rst2man-indent\\n[rst2man-indent-level] \\n[an-margin] . nr rst2man-indent-level +1 .\" .rstReportMargin post: .. .de UNINDENT . RE .\" indent \\n[an-margin] .\" old: \\n[rst2man-indent\\n[rst2man-indent-level]] .nr rst2man-indent-level -1 .\" new: \\n[rst2man-indent\\n[rst2man-indent-level]] .in \\n[rst2man-indent\\n[rst2man-indent-level]]u .. .\" Man page generated from reStructeredText. . .SH SYNOPSIS .sp \fBrosversion\fP <\fIstack\fP> | \fI\-d\fP .SH DESCRIPTION .sp The \fBrosversion\fP command prints version information for ROS stacks and can also print the name of the active ROS distribution. .sp rosversion takes in a single ROS stack name as an argument, or a \fB\-d\fP option with no arguments to print the distribution version instead. If the version number for a stack is not known, "" will be printed instead. .SH OPTIONS .sp \fB\-d\fP .INDENT 0.0 .INDENT 3.5 Print codename for current ROS distribution. .UNINDENT .UNINDENT .SH AUTHOR Ken Conley .SH COPYRIGHT 2011, Willow Garage .\" Generated by docutils manpage writer. .\" . rospkg-1.2.3/doc/man/rosversion.rst000066400000000000000000000010711360343013700173040ustar00rootroot00000000000000:orphan: rosversion manual page ====================== Synopsis -------- **rosversion** <*stack*> | *-d* Description ----------- The **rosversion** command prints version information for ROS stacks and can also print the name of the active ROS distribution. rosversion takes in a single ROS stack name as an argument, or a **-d** option with no arguments to print the distribution version instead. If the version number for a stack is not known, "" will be printed instead. Options ------- **-d** Print codename for current ROS distribution. rospkg-1.2.3/doc/manifest_xml.rst000066400000000000000000000222161360343013700170120ustar00rootroot00000000000000.. _manifest_xml: Package manifest XML tags reference =================================== Manifests always have the filename ``manifest.xml``. Manifests must use `valid XML syntax `_, including escaping special characters such as ``<``, ``>``, and ``&`` when they are used inside strings (use ``<``, ``>``, and ``&``, respectively). .. contents:: Table of Contents :depth: 2 Required Tags ------------- The required set of tags in a ``manifest.xml`` file is very minimal and only provides the most basic metadata about your package, including what it is, who wrote it, and who can use it. * :ref:`\ ` * :ref:`\ ` * :ref:`\` * :ref:`\` * :ref:`\ ` Optional Tags ------------- The most common optional tags are :ref:`\ ` and :ref:`\ `. We strongly recommend the use of the ```` tag to point users to a website where they can find out more information about your stack. This website is most commonly a wiki page on ros.org. * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` .. _package_tag: --------- This is the top-level tag in a manifest. Elements '''''''' * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` .. _manifest_description_tag: ------------- Text '''' Description of your package. It may be multi-line and include XHTML. Attributes '''''''''' ``brief="brief text"`` *(optional)* One-line summary of your Package. Useful for UI displays where the package name isn't sufficiently descriptive. Example ''''''' :: Python implementation of the ROS master/node APIs and client library. .. _manifest_license_tag: --------- Text '''' Name of license for this package, e.g. BSD, GPL, LGPL. In order to assist machine readability, only include the license name in this tag. For any explanatory text about licensing caveats, please use the ```` tag. Most common open-source licenses are described on the `OSI website `_. Commonly used license strings: - Apache 2.0 - BSD - Boost Software License - GPLv2 - GPLv3 - LGPLv2.1 - LGPLv3 - MIT - Mozilla Public License Version 1.1 - ZLib - wxWindows Attributes '''''''''' ``url="license url"`` *(optional)* For lesser-known licenses, it is helpful to add this attribute with a link to the text of the license. Example ''''''' :: BSD .. _manifest_author_tag: -------- Text '''' Name and contact information for the package. If there are multiple authors, use a comma-separated list in a single author tag. Example ''''''' :: Alyssa P. Hacker/aphacker@willowgarage.com, Norman Contributor/norcon@example.com .. _manifest_depend_tag: -------- Declare a ROS package that this package depends on. Attributes '''''''''' ``package="ros_package_name"`` Name of ROS package dependency. Example ''''''' :: .. _manifest_rosdep_tag: -------- Declare an external dependency that this package requires and can be installed via `rosdep `_. These external dependencies are generally libraries that can be installed by OS package managers, like ``apt``. Attributes '''''''''' ``name="rosdep_dependency"`` Name of rosdep dependency. Example ''''''' :: .. _manifest_url_tag: tag --------- Text '''' Web site for your package. This is important for guiding users to your online documentation. Example ''''''' :: http://ros.org/wiki/rospy .. _versioncontrol_tag: .. _manifest_export_tag: -------- The `` ... `` portion of the manifest declares various flags and settings that a package wishes to export to support tools, such as CMake. This section is extensible by individual tools and these properties can be extracted from the command-line using the `rospack `_ tool. Elements '''''''' You are free to add your own XML elements to the ```` section of a manifest. This is used by a variety of packages for functionality such as plugins. Tags currently used include: * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` .. _cpp_tag: export: ------------- Export flags to the make compiler. These flags are made available to *users* of this package, not the package itself. This is not the place to put flags that you'll need in building your package. Instead, encode those needs in the [[CMakeLists|CMakeLists.txt]] file, using standard CMake macros, such as ``include_directories()`` and ``target_link_libraries()``. Attributes '''''''''' ``cflags="${prefix}/include"`` cflags export value. ``lflags="..."`` lflags export value. ``os="osx"`` Restricts settings to a particular OS. Example ''''''' :: Note the use of ``-Wl,-rpath,${prefix}/lib``. This tells the linker to look in ``${prefix}/lib`` for shared libraries when running an executable. This flag is necessary to allow the use of shared libraries that reside in a variety of directories, without requiring the user to modify :envvar:`LD_LIBRARY_PATH`. Every time you add a ``-Lfoo`` option to your exported lflags, add a matching ``-Wl,-rpath,foo`` option. The -Wl options can be chained together, e.g.: ``-Wl,-rpath,foo,-rpath,bar``. .. _python_tag: export: ---------------- Export a path other than the default ``${prefix}/src`` to the :envvar:`PYTHONPATH`. Attributes '''''''''' ``path="${prefix}/mydir"`` Path to append to :envvar:`PYTHONPATH`. Example ''''''' :: .. _rosdoc_tag: export: ---------------- Override settings in the `rosdoc `_ documentation generator. Currently this is used to disable auto-generated code documentation on the package. This is common for thirdparty packages, which have their own documentation. This tag enables packages to link to this external documentation. Attributes '''''''''' ``external="http://link"`` *(optional)* URL to external documentation. rosdoc will not run a documentation tool (e.g. Doxygen) on this package. ``config="rosdoc.yaml"`` *(optional)* Name of rosdoc configuration file. Examples '''''''' External API documentation:: Using an external config file:: Attributes '''''''''' ``excludes="build"`` *(optional)* Path to exclude (see Doxygen documentation on `EXCLUDES`). ``file-patterns="*.c *.cpp *.dox"`` *(optional)* Patterns for files to include (see Doxygen documentation on `FILE_PATTERNS`). .. _roslang_tag: export: ----------------- This tag should only be used by ROS client libraries, such as `roscpp `_ and `rospy `_. The ```` export specifies a CMake file that should be exported to the `rosbuild `_ system. The CMake rules will be exported to *every* ROS package, which is necessary for functionality such as message and service generation. Attributes '''''''''' ``cmake="${prefix}/cmake/file.cmake"`` CMake file. Example ''''''' :: .. _roswtf_tag: export: ---------------- Declare a `roswtf `_ plugin. Attributes '''''''''' ``plugin="python.module"`` Python modulename to export as a [[roswtf]] plugin. Example ''''''' :: .. _manifest_review_tag: -------- Status of the package in the review process (Design, API, and Code review). See `QAProcess `_. Packages that have not yet been reviewed should be marked as "experimental". Example ''''''' :: Attributes '''''''''' ``status="status"`` See `list of valid review statuses `_. ``notes="notes on review status"`` *(optional)* Notes on review status, such as date of last review. rospkg-1.2.3/doc/manifests.rst000066400000000000000000000133061360343013700163150ustar00rootroot00000000000000.. _manifest_file: Package manifest files ====================== A ROS *manifest* (``manifest.xml``) is a minimal specification about a ROS package and supports a wide variety of tools, from compilation to documentation to distribution. In addition to providing a minimal specification of metadata about your package, an important role of manifests is to declare dependencies in a language-neutral and operating-system-neutral manner. The presence of a ``manifest.xml`` file in a directory is significant: any directory within your ROS package path that contains a ``manifest.xml`` file is considered to be a package (NOTE: packages cannot contain packages). The bare minimum manifest file is much like a README file, stating who wrote your package and what license it is under. The license is important as packages are means by which ROS code is distributed. The most common manifest files also include :ref:`\ ` and :ref:`\ ` tags, which help manage the installation and use of a package. The :ref:`\ ` tag points to another ROS package that must be installed. It can have a variety of meanings depending on the contents of the package is it pointing to. For example, for rospy code, a depend declares that the other package should be added to the :envvar:`PYTHONPATH`. For roslaunch files, a depend may indicate that this package includes roslaunch files from the other package. The :ref:`\ ` tag describes language-specific build and runtime flags that should be used by any package that depends on your package. For a package containing roscpp code, an export tag may declare header files and libraries that should be picked by any package that depends on it. .. seealso:: :ref:`rospack ` ``rospack`` is the main command-line tool for retrieving information about manifests. Uses ---- *Indexing* If a ``manifest.xml`` is present, the directory is assumed to be a ROS package, and the name of the package is the same as the name of the directory. Additionally, properties like the author, license, and description provide important metadata for an indexer. *Documentation* As part of the DRY (Don't Repeat Yourself) principle, manifest information is oftena automatically imported into documentation, such as header information on ROS.org wiki pages, as well as in Doxygen documentation. *Compilation* The ```` tags of manifests are used to order ROS packages for compilation. Also, the ```` section of manifests is frequently used by libraries like roscpp and rosjava to export properties to their respective build systems, as well as by rospy to configure :envvar:`PYTHONPATH`. *System dependency specification* In addition to declaring dependencies between ROS packages, manifests can declare system dependencies (e.g. on the Boost library). This information is used to release and deploy code to other machines. XML Reference ------------- Please see the :ref:`manifest.xml tags reference `. Example ------- ::

rospy is a pure Python client library for ROS. The rospy client API enables Python programmers to quickly interface with ROS Topics, Services, and Parameters. The design of rospy favors implementation speed (i.e. developer time) over runtime performance so that algorithms can be quickly prototyped and tested within ROS. It is also ideal for non-critical-path code, such as configuration and initialization code. Many of the ROS tools are written in rospy to take advantage of the type introspection capabilities.

Many of the ROS tools, such as rostopic and rosservice, are built on top of rospy.

Ken Conley/kwc@willowgarage.com BSD http://ros.org/wiki/rospy Types of Dependencies --------------------- The most common type of dependency that is expressed by a manifest is a dependency on another ROS package, which is expressed by the :ref:`\ ` tag. As explained earlier, the exact meaning of this dependency depends on the code involved and may either mean a compile-time dependency or runtime dependency. A manifest can also declare dependencies on thirdparty software provided by the operating system, which is expressed by the :ref:`\ `. For example, your package may need boost:: By declaring this, users can now use the `rosdep `_ tool to install boost. ``rosdep`` will examine their operating system, find the appropriate package manager and package name, and install it. Tools ----- :ref:`rospack ` parses and retrieves information from ``manifest.xml`` files. For example, ``rospack depends package-name`` will tell you all of the dependencies of ``package-name`` (use ``depends1`` to retrieve the direct dependencies). Library Support --------------- See the :class:`rospkg.RosPack` and :class:`rospkg.RosStack` for Python APIs to retrieve and parse manifest files. rospkg-1.2.3/doc/os_detect.rst000066400000000000000000000076311360343013700163010ustar00rootroot00000000000000OS detection ============ .. module:: rospkg.os_detect :synopsis: OS detection for ROS tools. OS detection is a critical capability of many ROS tools in the ROS build toolchain. The :mod:`rospkg.os_detect` module provides and extendable library for detecting various operating systems. It is focused on detecting operating systems used with ROS. You can test this library on your platform from the command line:: $ python -m rospkg.os_detect OS Name: ubuntu OS Version: 10.04 OS Codename: lucid Currently supported OSes: - Arch Linux - Cygwin - Debian - Fedora - FreeBSD - Gentoo - Mint - OS X - Red Hat Linux - Slackware - Ubuntu .. autoclass:: OsNotDetected .. class:: OsDetect(os_list) Detects the current operating system. This class will iterate over registered classes to lookup the active OS and version. The list of detectors can be overridden in the constructor; otherwise it will default to :class:`OsDetector` classes provided by this library. .. attribute:: default_os_list List of currently registered detectors. Must not be modified directly. .. staticmethod:: register_default(os_name, os_detector) Register detector to be used with all future instances of :class:`OsDetect`. The new detector will have precedence over any previously registered detectors associated with *os_name*. .. method:: detect_os() -> tuple :returns: (os_name, os_version, os_codename), ``(str, str, str)`` :raises: :exc:`OsNotDetected` if OS could not be detected .. method:: get_detector([name]) -> OsDetector Get detector used for specified OS name, or the detector for this OS if name is ``None``. :raises: :exc:`KeyError` .. method:: add_detector(name, detector) Add detector to list of detectors used by this instance. *detector* will override any previous detectors associated with *name*. :param name: OS name that detector matches :param detector: :class:`OsDetector` instance .. method:: get_os() -> OsDetector Get :class:`OsDetector` for this operating system. :raises: :exc:`OsNotDetected` if OS could not be detected .. method:: get_name() -> str :returns: Name of current operating system. See ``OS_*`` definitions in this module for possible values. :raises: :exc:`OsNotDetected` if OS could not be detected .. method:: get_version() -> str :returns: Version of current operating system :raises: :exc:`OsNotDetected` if OS could not be detected .. method:: get_codename() -> str :returns: Codename of current operating system if available, or empty string if OS does not provide codename. :raises: :exc:`OsNotDetected` if OS could not be detected .. autoclass:: OsDetector :members: OS name definitions ------------------- .. data:: OS_ARCH Name used for Arch Linux OS. .. data:: OS_CYGWIN Name used for Cygwin OS. .. data:: OS_DEBIAN Name used for Debian OS. .. data:: OS_FREEBSD Name used for FreeBSD OS. .. data:: OS_GENTOO Name used for Gentoo. .. data:: OS_MINT Name used for Mint OS. .. data:: OS_OPENSUSE Name used for OpenSUSE OS. .. data:: OS_OSX Name used for OS X. .. data:: OS_RHEL Name used for Red Hat Enterprise Linux. .. data:: OS_SLACKWARE Name used for Slackware. .. data:: OS_UBUNTU Name used for Ubuntu OS. Linux helper methods -------------------- .. method:: lsb_get_os() -> str Linux: wrapper around lsb_release to get the current OS .. method:: lsb_get_codename() -> str Linux: wrapper around lsb_release to get the current OS codename .. method:: lsb_get_version() -> str Linux: wrapper around lsb_release to get the current OS version .. method:: uname_get_machine() -> str Linux: wrapper around uname to determine if OS is 64-bit rospkg-1.2.3/doc/overview.rst000066400000000000000000000017011360343013700161660ustar00rootroot00000000000000Overview ======== There are two main concepts in the ROS packaging system: *packages* and *stacks*. *Packages* are the main unit for organizing and building software in ROS. A package may contain runtime processes (e.g. ROS nodes), a library, datasets, configuration files, or anything else that is usefully organized together. *Stacks* are collections of packages that provide aggregate functionality, such as a "navigation stack." Stacks are also how ROS software is released and have associated version numbers. So, packages are the smallest unit in which ROS software is *built*; stacks are the smallest unit in which ROS software is *released*. Packages and stacks each have associated manifests: ``manifest.xml`` for packages and ``stack.xml`` for stacks. You can continue reading the sections below to find out more about these concepts and files. .. toctree:: :maxdepth: 2 packages stacks environment manifests stack_manifests rospkg-1.2.3/doc/packages.rst000066400000000000000000000057351360343013700161110ustar00rootroot00000000000000.. _packages: ROS packages ============ Software in ROS is organized in *packages*. A package might contain a library, a dataset, configuration files or anything else that logically constitutes a useful module. The goal of these packages it to provide this functionality in an easy-to-consume manner so that software can be easily reused. In general, ROS packages follow a "Goldilocks" principle: *enough functionality to be useful, but not too much that the package is heavyweight and difficult to use from other software*. Packages are easy to create by hand or with tools like `roscreate-pkg `_. A ROS package is simply a directory descended from :envvar:`ROS_ROOT` or :envvar:`ROS_PACKAGE_PATH` that has a :ref:`manifest.xml ` file in it. Packages may be organized together into ROS [[Stacks|stacks]]. Please see the :ref:`package manifest files ` section for documentation on how to read and write ``manifest.xml`` files. Common Files and Directories ---------------------------- ROS packages tend to follow a common structure. Here are some of the directories and files you may notice. - ``bin/``: compiled binaries - ``include/package_name``: C++ include headers (make sure to export in the :ref:`package manifest `) - ``src/package_name/``: Source files, especially Python source that are exported to other packages. - ``scripts/``: executable scripts - ``CMakeLists.txt``: CMake build file (see `CMakeLists `_) - ``manifest.xml``: :ref:`Package manifest ` For C++ and Python developers, we strongly recommend that the ``package_name`` match namespaces/module names in your code so that it's easy to locate what package provides your code. Packages that are used with the ROS communication system may also have: - ``msg/``: `ROS message (msg) types `_ - ``srv/``: `ROS service (srv) types `_ Command-line Tools ------------------ Packages are a very central concept to how files in ROS are organized, so there are quite a few tools in ROS that help you manage them. This includes: * :ref:`rospack`: find and retrieve information about packages. The ROS build system also uses ``rospack`` to locate a package and build its dependencies. * `roscreate-pkg `_: create a new package. * `rosmake `_: build a package and its dependencies. * `rosdep `_: install system dependencies of a package. There are also extensions to common Unix shells that provide additional functionality to help you navigate and use packages. The most commonly used of these is `rosbash `_, which provides ROS-variants of common Unix shell commands for Bash and other shells. The most commonly used of these is ``roscd``, which performs a ``cd`` to the directory of a package or stack, e.g. :: roscd roscpp_tutorials rospkg-1.2.3/doc/python_api.rst000066400000000000000000000060151360343013700164750ustar00rootroot00000000000000rospkg documentation ==================== .. module:: rospkg .. moduleauthor:: Ken Conley The :mod:`rospkg` Python module provides basic utilities for querying information about ROS packages, stacks, and distributions. There are several basic APIs: :doc:`ROS environment `, :class:`RosPack`/:class:`RosStack`, :doc:`OS detection `, and :doc:`distributions `. The environment APIs enable access to environment settings that define the ROS package/stack filesystem configuration. The :class:`RosPack` and :class:`RosStack` APIs are similar to the ``rospack`` and ``rosstack`` command-line tools and provide information about dependency, location, and other package/stack metadata. The :class:`Manifest` class provides access to a specific package/stack's manifest information. NOTE: the :class:`Manifest` class API is still volatile. Where possible, use the relevant :class:`RosPack`/:class:`RosStack` APIs to access manifest-related information instead (e.g. dependency relationships). The :mod:`rospkg.distro` sub-module provides access to ROS distribution files, which describe collections of ROS stacks releases. This API is module is still unstable and mainly supports internal tools. .. toctree:: :maxdepth: 2 rospkg_packages rospkg_stacks rospkg_environment os_detect rospkg_distro Example:: import rospkg ros_root = rospkg.get_ros_root() r = rospkg.RosPack() depends = r.get_depends('roscpp') path = r.get_path('rospy') Common API ---------- .. exception:: ResourceNotFound Requested resource (e.g. package/stack) could not be found. .. attribute:: __version__ Version of this module. Installation ------------ Recommended automated installation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ``rospkg`` is already a dependency of many core packages of ROS, so it should get automatically installed when you follow standard installation steps. Automated installation is realized by adding a dependency like this: In ``package.xml`` `format 1 `_: :: python-rospkg In ``package.xml`` `format 2 `_, `format 3 `_: :: python-rospkg Manual installation ~~~~~~~~~~~~~~~~~~~ rospkg is available on pypi and can be installed via ``pip`` :: pip install -U rospkg or ``easy_install``: :: easy_install -U rospkg For debian-based OSes it's available via apt. :: apt-get install python-rospkg Using rospkg ------------ The :mod:`rospkg` module is meant to be used as a normal Python module. After it has been installed, you can ``import`` it normally and do not need to declare as a ROS package dependency. 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The main function of ``rospack`` is to crawl through the packages in :envvar:`ROS_ROOT` and :envvar:`ROS_PACKAGE_PATH`, read and parse the :ref:`manifest.xml ` for each package, and assemble a complete dependency tree for all packages. Using this tree, ``rospack`` can answer a number of queries about packages and their dependencies. Common queries include: - :ref:`rospack find ` : return the absolute path to a package - :ref:`rospack depends ` : return a list of all of a package's dependencies - :ref:`rospack depends-on ` : return a list of packages that depend on the given package - :ref:`rospack export ` : return flags necessary for building and linking against a package rospack is intended to be cross-platform. .. seealso:: :ref:`Package manifests ` Documentation on ``manifest.xml`` files, which ``rospack`` crawls and extracts information from. `rosbuild `_ Documentation for the rosbuild system, which makes heavy use of the rospack commands `rosmake `_ Documentation for the rosmake command, which makes heavy use of the rospack commands .. contents:: Table of Contents :depth: 2 Crawling algorithm ------------------ ``rospack`` crawls the directory specified by the environment variable :envvar:`ROS_ROOT`. It then crawls the colon-separated directories in :envvar:`ROS_PACKAGE_PATH`, in the ordered they are listd, determining a directory to be package if it contains a file called :ref:`manifest.xml `. If such a file is found, the directory containing it is considered to be a ROS package, with the package name equal to the directory name. The crawl does not descend further once a manifest is found (i.e. packages cannot be nested inside one another). If a ``manifest.xml`` file is not found in a given directory, each subdirectory is searched. This subdirectory search is prevented if a file called ``rospack_nosubdirs`` is found. The directory itself is still searched for a manifest, but its subdirectories are not crawled. If multiple packages by the same name exist within the search path, the first one found wins. It is strongly recommended that you keep packages by the same name in separate trees, each having its own element within :envvar:`ROS_PACKAGE_PATH`. That way, you can deterministically control the search order by the way that you specify :envvar:`ROS_PACKAGE_PATH`. The search order within a given element of :envvar:`ROS_PACKAGE_PATH` can be unpredictably affected by the details of how files are laid out on disk. Efficiency considerations ''''''''''''''''''''''''' rospack re-parses the ``manifest.xml`` files and rebuilds the dependency tree on each execution. However, it maintains a cache of package directories in ``ROS_ROOT/.rospack_cache``. This cache is updated whenever there is a cache miss, or when the cache is 60 seconds old. You can change this timeout by setting the environment variable :envvar:`ROS_CACHE_TIMEOUT`, in seconds. Set it to 0.0 to force a cache rebuild on every invocation of rospack. rospack's performance can be adversely affected by the presence of very broad and/or deep directory structures that don't contain manifest files. If such directories are in rospack's search path, it can spend a lot of time crawling them only to discover that there are no packages to be found. You can prevent this latency by creating a ``rospack_nosubdirs`` file in such directories. If rospack seems to be running annoyingly slowly, you can use the :ref:`profile command `, which will print out the 20 slowest trees to crawl (or use ``profile --length=N`` to print the slowest N trees). rospack_nosubdirs ----------------- You can prevent rospack from descending into a directory by simply adding an empty ``rospack_nosubdirs`` file. This is useful when you want to block off part of your package tree, either for performance reasons, or to hide another version of your code. We recommend creating a ``rospack_nosubdirs`` file in packages that checkout code from other code repositories, as those often create big directory trees that don't get cleaned up if a package is moved or deleted. NOTE: the ``rospack_nosubdirs`` directive only affects the ``rospack`` tool. It is not observed by tools like ``roslaunch`` or ``rosrun``. rospack usage ============= The ``rospack`` tool implements many commands that print information about ROS packages. All of these commands print their results to stdout. Any errors or warnings go to stderr. This separation ensures that error output does not confuse programs that execute ``rospack`` as a subprocess to, for example, recover build flags for a package. :: USAGE: rospack [options] [package] Allowed commands: help [subcommand] cflags-only-I [--deps-only] [package] cflags-only-other [--deps-only] [package] depends [package] (alias: deps) depends-indent [package] (alias: deps-indent) depends-manifests [package] (alias: deps-manifests) depends-msgsrv [package] (alias: deps-msgsrv) depends-on [package] depends-on1 [package] depends-why --target= [package] (alias: deps-why) depends1 [package] (alias: deps1) export [--deps-only] --lang= --attrib= [package] find [package] langs libs-only-L [--deps-only] [package] libs-only-l [--deps-only] [package] libs-only-other [--deps-only] [package] list list-duplicates list-names plugins --attrib= [--top=] [package] profile [--length=] [--zombie-only] rosdep [package] (alias: rosdeps) rosdep0 [package] (alias: rosdeps0) vcs [package] vcs0 [package] Extra options: -q Quiets error reports. If [package] is omitted, the current working directory is used (if it contains a manifest.xml). .. program:: rospack General options --------------- .. cmdoption:: -q The `-q` option can be given after any subcommand. It will suppress most error messages that usually go to stderr. The return code will still be non-zero, to indicate the error. E.g., to search for a package, but suppress the error message if it's not found:: $ rospack find -q foo $ echo $? 255 NOTE: for all commands, if ``[package]`` is omitted, the current working directory is used. .. program:: rospack help rospack help [subcommand] ------------------------- Print help message. Since 2.0.9, you can give a subcommand as an argument to get more specific help. .. _rospack_find: .. program:: rospack find rospack find [package] ---------------------- Print absolute path to the package, empty string if package is not found. This is used within many tools, including rosbuild. Example:: $ rospack find roscpp /Users/homer/code/ros/core/roscpp .. program:: rospack list rospack list ------------ Print newline-separated list, `` ``, for all packages. Example:: $ rospack list | grep visualization wxpropgrid /home/kwc/ros-pkg/visualization/wxpropgrid rviz /home/kwc/ros-pkg/visualization/rviz visualization_msgs /home/kwc/ros-pkg/visualization_common/visualization_msgs ogre /home/kwc/ros-pkg/visualization_common/ogre ogre_tools /home/kwc/ros-pkg/visualization_common/ogre_tools .. program:: rospack list-names rospack list-names ------------------ Print newline-separated list of packages names for all packages. .. program:: rospack list-duplicates rospack list-duplicates ----------------------- Print newline-separated list of names of packages that appear more than once during the search. .. program:: rospack langs rospack langs ------------- Print space-separated list of available language-specific client libraries. The client library list is calculated as the list of packages that depend directly on the placeholder package "roslang", minus any packages that are listed in the environment variable :envvar:`ROS_LANG_DISABLE`. Example:: $ rospack langs roscpp rospy .. _rospack_depends: .. program:: rospack depends rospack depends [package] ------------------------- Print newline-separated, ordered list of all dependencies of the package. This is used within ``rosmake``. Example:: $ rospack depends map_server gtest genmsg_cpp roslib xmlrpc++ rosthread roscpp std_msgs std_srvs sdl ijg_libjpeg sdl_image .. program:: rospack depends1 rospack depends1 [package] -------------------------- Print newline-separated, ordered list of immediate dependencies of the package. .. program:: rospack depends-manifests rospack depends-manifests [package] ----------------------------------- Print space-separated, ordered list of manifest files for all dependencies of the package. This is used by rosbuild to create explicit dependencies from source files to other packages' manifests. .. program:: rospack depends-indent rospack depends-indent [package] -------------------------------- Print newline-separated list of the entire dependency chain for the package, indented to indicate where in the chain each dependency arises. This may contain duplicates. .. program:: rospack depends-why rospack depends-why --target= [package] ----------------------------------------------- Print newline-separated presentation of all dependency chains from the package to ````. .. _rospack_depends-on: .. program:: rospack depends-on rospack depends-on [package] ---------------------------- Print newline-separated list of all packages that depend on the package. .. program:: rospack depends-on1 rospack depends-on1 [package] ----------------------------- Print newline-separated list of all packages that directly depend on the package. Example:: $ rospack depends-on1 roslang roscpp rospy rosoct roslisp .. program:: rospack rosdep rospack rosdep [package] ------------------------ Print newline-separated list of all `rosdep` tags from the manifest.xml of the package and all of its dependencies. .. program:: rospack rosdep0 rospack rosdep0 [package] ------------------------- Print newline-separated list of all `rosdep` tags from the manifest.xml of just the package itself. .. program:: rospack vcs rospack vcs [package] --------------------- Print newline-separated list of all `versioncontrol` tags from the manifest.xml of the package and all of its dependencies. This is useful for pre-caching SSL certificates for https SVN servers that will be contacted during the build, to avoid having to manually accept the certificates during the build. .. program:: rospack vcs0 rospack vcs0 [package] ---------------------- Print newline-separated list of all `versioncontrol` tags from the manifest.xml of just the package itself. This is useful for pre-caching SSL certificates for https SVN servers that will be contacted during the build, to avoid having to manually accept the certificates during the build. .. _rospack_export: .. program:: rospack export rospack export --lang=LANGUAGE --attrib=ATTRIBUTE [package] ----------------------------------------------------------- Print space-separated list of [export][LANGUAGE ATTRIBUTE=""/][/export] values from the manifest of the package and its dependencies. This is useful for getting language-specific build flags, e.g,. export/cpp/cflags. .. cmdoption:: --deps-only If `--deps-only` is provided, then the package itself is excluded. .. program:: rospack cflag-only-I, cflags-only-other rospack cflag-only-I, cflags-only-other --------------------------------------- NOTE: the ``cflags-only-*`` commands are simply variants of the :ref:`rospack export ` command with additional processing. .. cmdoption:: cflags-only-I [package] Print space-separated list of export/cpp/cflags that start with ``-I``. This is used by rosbuild to assemble include paths for compiling. .. cmdoption:: cflags-only-other [package] Print space-separated list of export/cpp/cflags that don't start with ``-I``. This is used by rosbuild to assemble non-include compile flags. .. cmdoption:: --deps-only If :option:`--deps-only` is provided, then the package itself is excluded. This can be used with all ``cflags-only-*`` variants. rospack libs-only-L, libs-only-l, libs-only-other ------------------------------------------------- .. program:: rospack libs-only-L, libs-only-l, libs-only-other NOTE: the ``libs-only-*`` commands are simply variants of the :ref:`rospack export ` command with additional processing. .. cmdoption:: libs-only-L [package] Print space-separated list of export/cpp/libs that start with ``-L``. If --deps-only is provided, then the package itself is excluded. This is used by rosbuild to assemble library search paths for linking. .. cmdoption:: libs-only-l [package] Print space-separated list of export/cpp/libs that start with ``-l``. If --deps-only is provided, then the package itself is excluded. This is used by rosbuild to assemble libraries for linking. .. cmdoption:: libs-only-other [package] Print space-separated list of export/cpp/libs that don't start with ``-l`` or ``-L``. Used by rosbuild to assemble non-library link flags. .. cmdoption:: --deps-only If :option:`--deps-only` is provided, then the package itself is excluded. This can be used with all ``libs-only-*`` variants. .. _cmd_rospack_profile: .. program:: rospack profile rospack profile --------------- .. cmdoption:: --length=N Force a full crawl of package directories (i.e., don't use cache, and report to console on the N (default 20) directories that took the longest time to crawl. Useful for finding stray directories that are adversely affecting ``rospack``'s performance. .. cmdoption:: --zombie-only Only print directories that do not have any manifests. In this case, the output can be fed directly into ``rm`` to clean up your tree, e.g.:: rospack profile --zombie-only | xargs rm -rf NOTE: be sure to check the output before deleting any files! .. program:: rospack plugins rospack plugins --attrib= [package] ------------------------------------------- Examine packages that depend directly on the given package, extracting from each the name of the package followed by the value of an exported attribute with the name ````. All matching exports are returned, newline-separated, e.g., if the manifest for a package "foo," located at ``/tmp/foo``, contains:: [str] Get list of all stack names in this variant. :param implicit: If ``True``, includes names of stacks in parent variants. Otherwise, include only stacks explicitly named in this variant. (default ``True``). .. attribute:: stack_names List of all stack names in this variant, including implicit stacks. .. class:: Distro(stacks, variants, release_name, version, raw_data) Store information in a rosdistro file. :param stacks: dictionary mapping stack names to :class:`DistroStack` instances :param variants: dictionary mapping variant names to :class:`Variant` instances :param release_name: name of release, e.g. 'diamondback' :param version: version number of release :param raw_data: raw dictionary representation of a distro .. method:: get_stacks([released=False]) -> {str: DistroStack} :param released: only included released stacks :returns: dictionary of stack names to :class:`DistroStack` instances in this distro. .. attribute:: stacks Dictionary of stack names mapped to :class:`DistroStack` instances in this distro. .. attribute:: released_stacks Dictionary of released stack names mapped to :class:`DistroStack` instances in this distro. .. attribute:: variants Dictionary of variant names mapped to :class:`Variant` instances in this distro. Source control information -------------------------- .. autoclass:: VcsConfig :members: .. autoclass:: DvcsConfig :members: .. autoclass:: GitConfig .. autoclass:: HgConfig .. autoclass:: BzrConfig .. autoclass:: SvnConfig() .. method:: get_vcs_configs() -> {str: VcsConfig} :returns: Dictionary of supported :class:`VcsConfig` instances. Key is the VCS type name, e.g. 'svn'. .. method:: load_vcs_config(rules, rule_eval) -> VcsConfig Factory for creating :class:`VcsConfig` subclass based on rosdistro _rules data. :param rules: rosdistro rules data :param rules_eval: Function to apply to rule values, e.g. to convert variables. ``fn(str)->str`` :returns: :class:`VcsConfig` subclass instance with interpreted rules data. rospkg-1.2.3/doc/rospkg_environment.rst000066400000000000000000000071111360343013700202520ustar00rootroot00000000000000ROS environment variable access =============================== The environment APIs of :mod:`rospkg` provide convenient access to ROS package-related environment variables, including methods that provide default values when environment variable overrides are not active. .. data:: rospkg.environment.ROS_PACKAGE_PATH Name of :envvar:`ROS_PACKAGE_PATH` environment variable. .. data:: rospkg.environment.ROS_ROOT Name of :envvar:`ROS_ROOT` environment variable. .. data:: rospkg.environment.ROS_HOME Name of :envvar:`ROS_HOME` environment variable. .. data:: rospkg.environment.ROS_LOG_DIR Name of :envvar:`ROS_LOG_DIR` environment variable. .. data:: rospkg.environment.ROS_TEST_RESULTS_DIR Name of :envvar:`ROS_TEST_RESULTS_DIR` environment variable. .. data:: rospkg.environment.ROS_ETC_DIR Name of :envvar:`ROS_ETC_DIR` environment variable. .. method:: get_ros_paths([env=None]) -> [str] Get an ordered list of ROS paths to search for ROS packages, stacks, and other resources. This is generally computed from :envvar:`ROS_ROOT` and :envvar:`ROS_PACKAGE_PATH`. :param env: override environment dictionary .. method:: get_ros_root([env=None]) -> str Get the current :envvar:`ROS_ROOT`. NOTE: it is preferable to call :meth:`get_ros_paths()` instead of directly querying ROS environment variable values. :param env: override environment dictionary .. method:: get_ros_package_path([env=None]) Get the current :envvar:`ROS_PACKAGE_PATH`. NOTE: it is preferable to call :meth:`get_ros_paths()` instead of directly querying ROS environment variable values. :param env: (optional) environment override. .. method:: get_ros_home([env=None]) -> str Get directory location of ``.ros`` directory (aka ``ROS_HOME``). possible locations for this. The :envvar:`ROS_HOME` environment variable has priority. If :envvar:`ROS_HOME` is not set, ``$HOME/.ros/log`` is used. :param env: override environment dictionary :return: path to use use for log file directory .. method:: get_log_dir([env=None]) -> str Get directory to use for writing log files. There are multiple possible locations for this. The :envvar:`ROS_LOG_DIR` environment variable has priority. If that is not set, then :envvar:`ROS_HOME`/log is used. If :envvar:`ROS_HOME` is not set, ``$HOME/.ros/log`` is used. :param env: override environment dictionary :return: path to use use for log file directory .. method:: get_test_results_dir(env=None) -> str Get directory to use for writing test result files. There are multiple possible locations for this. The :envvar:`ROS_TEST_RESULTS_DIR` environment variable has priority. If that is set, :envvar:`ROS_TEST_RESULTS_DIR` is returned. If :envvar:`ROS_TEST_RESULTS_DIR` is not set, then :envvar:`ROS_HOME`/test_results is used. If :envvar:`ROS_HOME` is not set, ``$HOME/.ros/test_results`` is used. :param env: override environment dictionary :return: path to use use for log file directory .. method:: on_ros_path(p, [env=None]) -> bool Check to see if filesystem path is on paths specified in ROS environment (:envvar:`ROS_ROOT`, :envvar:`ROS_PACKAGE_PATH`). :param p: path, ``str`` :return: True if p is on the ROS path (ROS_ROOT, ROS_PACKAGE_PATH) .. method:: get_etc_ros_dir([env=None]) -> str Get directory location of ``/etc/ros`` directory. The :envvar:`ROS_ETC_DIR` environment variable has priority. If :envvar:`ROS_ETC_DIR` is not set, ``/etc/ros`` is used. :param env: override environment dictionary :return: path to use use for log file directory rospkg-1.2.3/doc/rospkg_packages.rst000066400000000000000000000072671360343013700175000ustar00rootroot00000000000000ROS package access ================== .. currentmodule:: rospkg The :class:`RosPack` class provides APIs similar to the ``rospack`` command-line tool distributed with ROS. Like ``rospack``, its provides information about package and stack dependency information, filesystem locations, and manifest access. The Python API is more efficient than shelling out to ``rospack`` as provides caching and other optimizations for repeated querying. .. data:: MANIFEST_FILE Name of package manifest file, i.e. 'manifest.xml'. .. method:: get_package_name(path) -> str Get the name of the ROS package that contains *path*. This is determined by finding the nearest parent ``manifest.xml`` file. This routine may not traverse package setups that rely on internal symlinks within the package itself. :param path: filesystem path :return: Package name or ``None`` if package cannot be found, ``str`` .. class:: RosPack([ros_paths=None]) Query information about ROS packages on the local filesystem. This includes information about dependencies, retrieving stack :class:`Manifest` instances, and determining the parent stack of a package. ``RosPack`` can be initialized with the default environment, or its environment configuration can be overridden with alternate ROS path settings. NOTE 1: for performance reasons, ``RosPack`` caches information about packages NOTE 2: ``RosPack`` is not thread-safe. Example:: from rospkg import RosPack rp = RosPack() packages = rp.list() path = rp.get_path('rospy') depends = rp.get_depends('roscpp') depends1 = rp.get_depends('roscpp', implicit=False) :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. .. method:: get_ros_paths() -> [str] Get ROS paths of this instance .. attribute:: ros_paths Get ROS paths of this instance .. method:: get_manifest(name) -> Manifest Get the :class:`Manifest` of the specified package. :param name: package name, ``str`` :raises: :exc:`InvalidManifest` .. method:: list() -> [str] List packages. :returns: complete list of package names in ROS environment .. method:: get_path(name) -> str :param name: package name, ``str`` :returns: filesystem path of package :raises: :exc:`ResourceNotFound` .. method:: get_depends(name, [implicit=True]) -> [str] Get explicit and implicit dependencies of a package. :param name: package name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies. :raises: :exc:`InvalidManifest` .. method:: get_depends_on(name, [implicit=True]) -> [str] Get list of packages that depend on a package. If implicit is ``True``, this includes implicit (recursive) dependency relationships. :param name: package name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies, ``[str]`` :raises: :exc:`InvalidManifest` .. method:: get_rosdeps(package, [implicit=True]) -> [str] Collect rosdeps of specified package into a dictionary. :param package: package name, ``str`` :param implicit: include implicit (recursive) rosdeps, ``bool`` :returns: list of rosdep names. .. method:: stack_of(package) -> str :param package: package name, ``str`` :returns: name of stack that *package* is in, or ``None`` if *package* is not part of a stack :raises: :exc:`ResourceNotFound`: if *package* cannot be located rospkg-1.2.3/doc/rospkg_stacks.rst000066400000000000000000000072121360343013700172000ustar00rootroot00000000000000ROS stack access ================ .. currentmodule:: rospkg The :class:`RosStack` classes provides APIs similar to the ``rosstack`` command-line tool distributed with ROS. Like ``rosstack``, it provides information about stack dependency information, filesystem locations, and manifest access. The Python API is more efficient than shelling out to ``rosstack`` as it provides caching and other optimizations for repeated querying. .. data:: STACK_FILE Name of stack manifest file, i.e. 'stack.xml'. .. class:: RosStack([ros_paths=None]) Query information about ROS stacks on the local filesystem. This includes information about dependencies, retrieving stack :class:`Manifest` instances, and determining the contents of stacks. ``RosStack`` can be initialized with the default environment, or its environment configuration can be overridden with alternate ROS path settings. NOTE: for performance reasons, ``RosStack`` caches information about stacks. NOTE 2: ``RosStack`` is not thread-safe. :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. .. method:: get_ros_paths() -> [str] Get ROS paths of this instance .. attribute:: ros_paths Get ROS paths of this instance .. method:: get_manifest(name) -> Manifest Get the :class:`Manifest` of the specified package. :param name: package name, ``str`` :raises: :exc:`InvalidManifest` .. method:: list() -> [str] List stacks. :returns: complete list of package names in ROS environment .. method:: get_path(name) -> str :param name: stack name, ``str`` :returns: filesystem path of stack :raises: :exc:`ResourceNotFound` .. method:: get_depends(name, [implicit=True]) -> [str] Get explicit and implicit dependencies of a stack. :param name: stack name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies. :raises: :exc:`InvalidManifest` .. method:: get_depends_on(name, [implicit=True]) -> [str] Get list of stacks that depend on a stack. If implicit is ``True``, this includes implicit (recursive) dependency relationships. :param name: stack name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies, ``[str]`` :raises: :exc:`InvalidManifest` .. method:: packages_of(stack) -> [str] :returns: name of packages that are part of stack :raises: :exc:`ResourceNotFound` if stack cannot be located .. method:: get_stack_version(stack) -> str :param env: override environment variable dictionary :returns: version number of stack, or None if stack is unversioned. .. function:: expand_to_packages(names, rospack, rosstack) -> ([str], [str]) Expand names into a list of packages. Names can either be of packages or stacks. :param names: list of names of stacks or packages, ``[str]`` :param rospack: :class:`RosPack` instance :param rosstack: :class:`RosStack` instance :returns: ([packages], [not_found]). ``expand_packages()`` returns two lists. The first is of packages names. The second is a list of names for which no matching stack or package was found. Lists may have duplicates. .. function:: get_stack_version_by_dir(stack_dir) -> str Get stack version where stack_dir points to root directory of stack. :param env: override environment variable dictionary :returns: version number of stack, or None if stack is unversioned. rospkg-1.2.3/doc/rosstack.rst000066400000000000000000000134671360343013700161650ustar00rootroot00000000000000.. _rosstack: rosstack ^^^^^^^^ rosstack overview ================= *rosstack* is a command-line tool for retrieving information about ROS stacks available on the filesystem. It implements a wide variety of commands ranging from locating ROS stacks in the filesystem, to listing available stacks, to calculating the dependency tree of stacks. It is also used in the ROS build system for calculating build information for stacks. For an equivalent tool for packages, see :ref:`rospack `. .. contents:: Table of Contents :depth: 2 rosstack usage ============== The rosstack tool implements many commands that print information about ROS stacks. All of these commands print their results to stdout. Any errors or warnings go to stderr. This separation ensures that error output does not confuse programs that execute rosstack as a subprocess to, for example, recover build flags for a stack. NOTE: for all commands, if `stack` is omitted, the current working directory is used. :: $ rosstack [options] [stack] [rosstack] USAGE: rosstack [options] [stack] Allowed commands: help find [stack] contents [stack] list list-names depends [stack] (alias: deps) depends-manifests [stack] (alias: deps-manifests) depends1 [stack] (alias: deps1) depends-indent [stack] (alias: deps-indent) depends-on [stack] depends-on1 [stack] depends-why --target= [package] (alias: deps-why) contains [package] contains-path [package] profile [--length=] If [stack] is omitted, the current working directory is used (if it contains a stack.xml). .. program:: rosstack .. program:: rosstack help rosstack help [subcommand] -------------------------- Print help message. Since 2.0.9, you can give a subcommand as an argument to get more specific help. .. _rosstack_find: .. program:: rosstack find rosstack find [stack] --------------------- Print absolute path to the stack, empty string if stack is not found. Example:: $ rosstack find common /Users/homer/ros-pkg/common .. program:: rosstack list rosstack list ------------- Print newline-separated list, `` ``, for all stacks. Example:: $ rosstack list | grep common common /Users/kwc/ros-pkg/common common_msgs /Users/kwc/ros-pkg/common_msgs driver_common /Users/kwc/ros-pkg/driver_common image_common /Users/kwc/ros-pkg/image_common pr2_common /Users/kwc/ros-pkg/pr2_common visualization_common /Users/kwc/ros-pkg/visualization_common .. program:: rosstack list-names rosstack list-names ------------------- Print newline-separated list of stack names for all stacks. Example:: $ rosstack list-names | grep common common common_msgs driver_common image_common pr2_common visualization_common .. program:: rosstack list-duplicates rosstack list-duplicates ------------------------ Print newline-separated list of names of stacks that appear more than once during the search. .. _rosstack_depends: .. program:: rosstack depends rosstack depends [stack] ------------------------ Print newline-separated, ordered list of all dependencies of the stack. Example:: $ rosstack depends driver_common ros common_msgs common diagnostics .. program:: rosstack depends1 rosstack depends1 [stack] ------------------------- Print newline-separated, ordered list of immediate dependencies of the stack. .. program:: rosstack depends-manifests rosstack depends-manifests [stack] ---------------------------------- Print space-separated, ordered list of stack.xml files for all dependencies of the stack. .. program:: rosstack depends-indent rosstack depends-indent [stack] ------------------------------- Print newline-separated list of the entire dependency chain for the stack, indented to indicate where in the chain each dependency arises. This may contain duplicates. .. program:: rosstack depends-why rosstack depends-why --target= [stack] ---------------------------------------------- Print newline-separated presentation of all dependency chains from the stack to ````. .. _rosstack_depends-on: .. program:: rosstack depends-on rosstack depends-on [stack] --------------------------- Print newline-separated list of all stacks that depend on the stack. .. program:: rosstack depends-on1 rosstack depends-on1 [stack] ---------------------------- Print newline-separated list of all stacks that directly depend on the stack. Example:: $ rosstack depends-on1 driver_common camera_drivers image_pipeline laser_drivers pr2_robot .. program:: rosstack contains rosstack contains [package] --------------------------- Print the name of the stack that contains the package. If the containing stack cannot be found, returns non-zero. Example:: $ rosstack contains roscpp ros_comm rosstack contains-path [package] -------------------------------- Print the path to the stack that contains the package. If the containing stack cannot be found, returns non-zero. Example:: $ rosstack contains-path roscpp /home/gerkey/code/ros_comm .. _cmd_rosstack_profile: .. program:: rosstack profile rosstack profile ---------------- .. cmdoption:: --length=N Force a full crawl of stack directories (i.e., don't use cache, and report to console on the N (default 20) directories that took the longest time to crawl. Useful for finding stray directories that are adversely affecting ``rosstack``'s performance. .. cmdoption:: --zombie-only Only print directories that do not have any manifests. In this case, the output can be fed directly into ``rm`` to clean up your tree, e.g.:: rosstack profile --zombie-only | xargs rm -rf NOTE: be sure to check the output before deleting any files! rospkg-1.2.3/doc/stack_manifests.rst000066400000000000000000000052111360343013700174760ustar00rootroot00000000000000.. _stack_manifest_file: Stack manifest files ==================== A ROS *stack manifest* (``stack.xml``) is a minimal specification for ROS stacks. Whereas a :ref:`package manifest.xml ` provides information for building software, a stack manifest mainly deals with distributing and installing software. In addition to providing a metadata about a stack, an important role of a ``stack.xml`` is to declare dependencies on other stacks. The presence of a `stack.xml` file in a directory is significant: a directory that contains a `stack.xml` file is considered to be a stack, and any packages within it are considered to be part of that stack (NOTE: stacks cannot contain stacks). A bare minimum ``stack.xml`` file is much like a readme file, stating who is responsible for the stack and what license it is under. The license is important as it indicates who can use your code. `stack.xml` files usually include `` tags, which declare stacks that must be installed as pre-requisites. Uses ---- *Indexing* If a ``stack.xml`` is present, the directory is assumed to be a ROS stack, and the name of the package is the same as the name of the directory. Additionally, properties like the author, license, and description provide important metadata for an indexer. *Documentation* As part of the DRY (Don't Repeat Yourself) principle, manifest information is oftena automatically imported into documentation, such as header information on ROS.org wiki pages, as well as in Doxygen documentation. *Deployment and Release* Dependencies between ROS stacks are used to generate installation packages. XML Reference ------------- Please see the :ref:`stack.xml tags reference `. Example ------- :: A set of code and messages that are widely useful to all robots. Things like generic robot messages (i.e., kinematics, transforms), a generic transform library (tf), laser-scan utilities, etc. Maintained by Tully Foote BSD http://ros.org/wiki/common Tools ----- `rosstack `_ parses and retrieves information from ``manifest.xml`` files. For example, ``rosstack depends stack-name`` will tell you all of the dependencies of ``stack-name`` (use ``depends1`` to retrieve the direct dependencies). Library Support --------------- See the :class:`rospkg.RosPack` and :class:`rospkg.RosStack` for Python APIs to retrieve and parse manifest files. rospkg-1.2.3/doc/stack_xml.rst000066400000000000000000000113721360343013700163120ustar00rootroot00000000000000.. _stack_xml: Stack manifest XML tags reference ================================= NOTE: Stack manifests always have the filename ``stack.xml``. Required Tags ------------- The required set of tags in a ``stack.xml`` file is very minimal and only provides the most basic metadata about your stack, including what it is, who wrote it, and who can use it. * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` Optional Tags ------------- The most common optional tags are ```` and ````. We strongly recommend the use of the ```` tag to point users to a website where they can find out more information about your stack. The website is most commonly a wiki page on ROS.org so that users can easily edit and update information about your stack. * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` Example ------- :: Common code for working with images in ROS. Maintained by Patrick Mihelich BSD http://ros.org/wiki/image_common .. _stack_tag: ------- The ```` tag is the top-level tag in a stack manifest. Elements '''''''' * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` * :ref:`\ ` .. _stack_description_tag: ------------- Text '''' Description of the stack. It may be multi-line and include XHTML. Example ''''''' :: Python implementation of the ROS master/node APIs and client library. Attributes '''''''''' ``brief="brief text"`` *(optional)* One-line summary of your stack. Useful for UI displays where the stack name isn't sufficiently descriptive. .. _stack_license_tag: --------- Text '''' Name of license for this package, e.g. BSD, GPL, LGPL. In order to assist machine readability, only include the license name in this tag. For any explanatory text about licensing caveats, please use the ```` tag. Most common open-source licenses are described on the `OSI website `_. Commonly used license strings: - Apache 2.0 - BSD - Boost Software License - GPLv2 - GPLv3 - LGPLv2.1 - LGPLv3 - MIT - Mozilla Public License Version 1.1 - ZLib - wxWindows Attributes '''''''''' ``url="license url"`` *(optional)* For lesser-known licenses, it is helpful to add this attribute with a link to the text of the license. Example ''''''' :: BSD .. _stack_author_tag: -------- Text '''' Name and contact information for the person maintaining the stack. Example ''''''' :: Alyssa P. Hacker/aphacker@willowgarage.com .. _stack_depend_tag: -------- Declares a stack that this stack depends on. Example ''''''' :: Attributes '''''''''' ``stack="stack_name"`` Name of ROS stack dependency. .. _stack_url_tag: ----- Text '''' Website for the stack. This is important for guiding users to online documentation. Example ''''''' :: http://ros.org/wiki/navigation .. _stack_review_tag: -------- Status of the stack in the review process (Design, API, and Code review). `QAProcess `_. Stack that have not yet been reviewed should be marked as "experimental". Attributes '''''''''' ``status="status"`` See `list of valid review statuses `_. ``notes="notes on review status"`` *(optional)* Notes on review status, such as date of last review. Example ''''''' :: .. _stack_version_tag: --------- .. versionadded: Electric Text '''' The version number of the stack. *IMPORTANT*: - This should only be used with stacks that follow the `release `_ process - Do *not* combine this with the ``rosbuild_make_distribution()`` CMake macro. Use the ```` tag *or* the CMake macro, but not both. Example ''''''' :: 1.2.7 rospkg-1.2.3/doc/stacks.rst000066400000000000000000000037641360343013700156230ustar00rootroot00000000000000.. _stacks: ROS stacks ============ :ref:`Packages ` can be organized into ROS *stacks*. Whereas the goal of packages is to create and compile minimal collections of code for easy *reuse*, the goal of stacks is to simplify the process of code *sharing*. Stacks are the primary mechanism in ROS for distributing software. Each stack has an associated version and can declare dependencies on other stacks. These dependencies also declare a version number, which provides greater stability in development. Stacks collect packages that collectively provide functionality, such as a navigation stack or a manipulation stack. Stacks are easy to create by hand. A stack is simply a directory descended from :envvar:`ROS_ROOT` or :envvar:`ROS_PACKAGE_PATH` that has a :ref:`stack.xml ` file in it. Any packages in this directory are considered to be part of the stack. For release purposes, a ``CMakeLists.txt`` should also be put into the root of the stack. The `roscreate-stack `_ tool can generate this file automatically. Please see the :ref:`stack manifest ` section for documentation on how to write `stack.xml` files. Unary stacks ------------ A *unary stack* is simply a stack that is also a package. *Advanced*: This is described in greater detail in `REP 109 `_. Command-line Tools ------------------ :ref:`rosstack ` is the primary ROS tool for interacting with ROS stacks. It is the stack-level analogue of the :ref:`rospack ` tool for packages. There are also extensions to common Unix shells that provide additional functionality to help you navigate and use packages. The most commonly used of these is `rosbash `_, which provides ROS-variants of common Unix shell commands for Bash and other shells. The most commonly used of these is ``roscd``, which performs a ``cd`` to the directory of a package or stack, e.g. :: roscd navigation rospkg-1.2.3/doc/tutorials.rst000066400000000000000000000000321360343013700163420ustar00rootroot00000000000000Tutorials ========= TODO rospkg-1.2.3/manifest.xml000066400000000000000000000005551360343013700153570ustar00rootroot00000000000000 Standalone Python library for the ROS package system. Ken Conley/kwc@willowgarage.com BSD http://ros.org/wiki/rospkg rospkg-1.2.3/rosdoc.yaml000066400000000000000000000000531360343013700151750ustar00rootroot00000000000000 - builder: sphinx sphinx_root_dir: doc rospkg-1.2.3/setup.py000077500000000000000000000027351360343013700145460ustar00rootroot00000000000000#!/usr/bin/env python import os import sys from setuptools import setup install_requires = ['catkin_pkg', 'PyYAML'] if ( 'SKIP_PYTHON_MODULES' not in os.environ and 'SKIP_PYTHON_SCRIPTS' not in os.environ ): install_requires.append('distro') kwargs = { 'name': 'rospkg', # same version as in: # - src/rospkg/__init__.py # - stdeb.cfg 'version': '1.2.3', 'packages': ['rospkg'], 'package_dir': {'': 'src'}, 'entry_points': { 'console_scripts': ['rosversion=rospkg.rosversion:main'], }, 'install_requires': install_requires, 'author': 'Ken Conley', 'author_email': 'kwc@willowgarage.com', 'url': 'http://wiki.ros.org/rospkg', 'keywords': ['ROS'], 'classifiers': [ 'Programming Language :: Python', 'License :: OSI Approved :: BSD License'], 'description': 'ROS package library', 'long_description': """\ Library for retrieving information about ROS packages and stacks. """, 'license': 'BSD' } if sys.version_info[0] == 2 and sys.version_info[1] < 7: kwargs['install_requires'].append('argparse') if 'SKIP_PYTHON_MODULES' in os.environ: kwargs['packages'] = [] kwargs['package_dir'] = {} kwargs['install_requires'].remove('catkin_pkg') if 'SKIP_PYTHON_SCRIPTS' in os.environ: kwargs['name'] += '_modules' kwargs['install_requires'].remove('catkin_pkg') kwargs['scripts'] = [] kwargs['entry_points']['console_scripts'] = [] setup(**kwargs) rospkg-1.2.3/src/000077500000000000000000000000001360343013700136115ustar00rootroot00000000000000rospkg-1.2.3/src/rospkg/000077500000000000000000000000001360343013700151165ustar00rootroot00000000000000rospkg-1.2.3/src/rospkg/__init__.py000066400000000000000000000050211360343013700172250ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Base ROS python library for manipulating ROS packages and stacks. """ from .common import MANIFEST_FILE, ResourceNotFound, STACK_FILE from .environment import get_etc_ros_dir, get_log_dir, get_ros_home, \ get_ros_package_path, get_ros_paths, get_ros_root, \ get_test_results_dir, on_ros_path from .manifest import InvalidManifest, Manifest, parse_manifest_file from .rospack import expand_to_packages, get_package_name, \ get_stack_version_by_dir, list_by_path, RosPack, RosStack # same version as in: # - setup.py # - stdeb.cfg __version__ = '1.2.3' __all__ = ( 'MANIFEST_FILE', 'ResourceNotFound', 'STACK_FILE', 'get_etc_ros_dir', 'get_log_dir', 'get_ros_home', 'get_ros_package_path', 'get_ros_paths', 'get_ros_root', 'get_test_results_dir', 'on_ros_path', 'InvalidManifest', 'Manifest', 'parse_manifest_file', 'get_package_name', 'RosPack', 'RosStack', 'list_by_path', 'expand_to_packages', 'get_stack_version_by_dir', ) rospkg-1.2.3/src/rospkg/common.py000066400000000000000000000042271360343013700167650ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Common definitions for rospkg modules. """ MANIFEST_FILE = 'manifest.xml' PACKAGE_FILE = 'package.xml' STACK_FILE = 'stack.xml' ROS_STACK = 'ros' class ResourceNotFound(Exception): """ A ROS filesystem resource was not found. """ def __init__(self, msg, ros_paths=None): super(ResourceNotFound, self).__init__(msg) self.ros_paths = ros_paths def __str__(self): s = self.args[0] # python 2.6 if self.ros_paths: for i, p in enumerate(self.ros_paths): s = s + '\nROS path [%s]=%s' % (i, p) return s rospkg-1.2.3/src/rospkg/distro.py000066400000000000000000000556071360343013700170110ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2010, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Representation/model of rosdistro format. """ import os import re import string try: from urllib.request import urlopen except ImportError: from urllib2 import urlopen import yaml from .common import ResourceNotFound from .environment import get_etc_ros_dir TARBALL_URI_EVAL = 'http://svn.code.sf.net/p/ros-dry-releases/code/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION/$STACK_NAME-$STACK_VERSION.tar.bz2' TARBALL_VERSION_EVAL = '$STACK_NAME-$STACK_VERSION' class InvalidDistro(Exception): """ Distro file data does not match specification. """ pass def distro_uri(distro_name): """ Get distro URI of main ROS distribution files. :param distro_name: name of distro, e.g. 'diamondback' :returns: the SVN/HTTP URL of the specified distro. This function should only be used with the main distros. """ return "http://svn.code.sf.net/p/ros-dry-releases/code/trunk/distros/%s.rosdistro" % (distro_name) def expand_rule(rule, stack_name, stack_ver, release_name): s = rule.replace('$STACK_NAME', stack_name) if stack_ver: s = s.replace('$STACK_VERSION', stack_ver) s = s.replace('$RELEASE_NAME', release_name) return s class DistroStack(object): """Stores information about a stack release""" def __init__(self, stack_name, stack_version, release_name, rules): """ :param stack_name: Name of stack :param stack_version: Version number of stack. :param release_name: name of distribution release. Necessary for rule expansion. :param rules: raw '_rules' data. Will be converted into appropriate vcs config instance. """ self.name = stack_name self.version = stack_version self.release_name = release_name self._rules = rules self.repo = rules.get('repo', None) self.vcs_config = load_vcs_config(self._rules, self._expand_rule) def _expand_rule(self, rule): """ Perform variable substitution on stack rule. """ return expand_rule(rule, self.name, self.version, self.release_name) def __eq__(self, other): try: return self.name == other.name and \ self.version == other.version and \ self.vcs_config == other.vcs_config except AttributeError: return False class Variant(object): """ A variant defines a specific set of stacks ("metapackage", in Debian parlance). For example, "base", "pr2". These variants can extend another variant. """ def __init__(self, variant_name, extends, stack_names, stack_names_implicit): """ :param variant_name: name of variant to load from distro file, ``str`` :param stack_names_implicit: full list of stacks implicitly included in this variant, ``[str]`` :param raw_data: raw rosdistro data for this variant """ self.name = variant_name self.extends = extends self._stack_names = stack_names self._stack_names_implicit = stack_names_implicit def get_stack_names(self, implicit=True): if implicit: return self._stack_names_implicit else: return self._stack_names # stack_names includes implicit stack names. Use get_stack_names() # to get explicit only stack_names = property(get_stack_names) class Distro(object): """ Store information in a rosdistro file. """ def __init__(self, stacks, variants, release_name, version, raw_data): """ :param stacks: dictionary mapping stack names to :class:`DistroStack` instances :param variants: dictionary mapping variant names to :class:`Variant` instances :param release_name: name of release, e.g. 'diamondback' :param version: version number of release :param raw_data: raw dictionary representation of a distro """ self._stacks = stacks self.variants = variants self.release_name = release_name self.version = version self.raw_data = raw_data def get_stacks(self, released=False): """ :param released: only included released stacks :returns: dictionary of stack names to :class:`DistroStack` instances in this distro. """ if released: return self._get_released_stacks() else: return self._stacks.copy() def _get_released_stacks(self): retval = {} for s, obj in self._stacks.items(): if obj.version: retval[s] = obj return retval # gets map of all stacks stacks = property(get_stacks) # gets maps of released stacks released_stacks = property(_get_released_stacks) def load_distro(source_uri): """ :param source_uri: source URI of distro file, or path to distro file. Filename has precedence in resolution. :raises: :exc:`InvalidDistro` If distro file is invalid :raises: :exc:`ResourceNotFound` If file at *source_uri* is not found """ try: # parse rosdistro yaml if os.path.isfile(source_uri): # load rosdistro file with open(source_uri) as f: raw_data = yaml.load(f.read()) else: try: request = urlopen(source_uri) except Exception as e: raise ResourceNotFound('%s (%s)' % (str(e), source_uri)) try: raw_data = yaml.load(request) except ValueError: raise ResourceNotFound(source_uri) if not type(raw_data) == dict: raise InvalidDistro("Distro must be a dictionary: %s" % (source_uri)) except yaml.YAMLError as e: raise InvalidDistro(str(e)) try: version = _distro_version(raw_data.get('version', '0')) release_name = raw_data['release'] stacks = _load_distro_stacks(raw_data, release_name) variants = _load_variants(raw_data.get('variants', {}), stacks) return Distro(stacks, variants, release_name, version, raw_data) except KeyError as e: raise InvalidDistro("distro is missing required '%s' key" % (str(e))) def _load_variants(raw_data, stacks): if not raw_data: return {} all_variants_raw_data = {} for v in raw_data: if type(v) != dict or len(v.keys()) != 1: raise InvalidDistro("invalid variant spec: %s" % v) variant_name = list(v.keys())[0] all_variants_raw_data[variant_name] = v[variant_name] variants = {} for variant_name in all_variants_raw_data.keys(): variants[variant_name] = _load_variant(variant_name, all_variants_raw_data) # Disabling validation to support variants which include wet packages. # validate # for stack_name in variants[variant_name].get_stack_names(implicit=False): # if stack_name not in stacks: # raise InvalidDistro("variant [%s] refers to non-existent stack [%s]"%(variant_name, stack_name)) return variants def _load_variant(variant_name, all_variants_raw_data): variant_raw_data = all_variants_raw_data[variant_name] stack_names_implicit = list(variant_raw_data.get('stacks', [])) extends = variant_raw_data.get('extends', []) if isinstance(extends, str): extends = [extends] for e in extends: parent_variant = _load_variant(e, all_variants_raw_data) stack_names_implicit = parent_variant.get_stack_names(implicit=True) + stack_names_implicit return Variant(variant_name, extends, variant_raw_data.get('stacks', []), stack_names_implicit) def _load_distro_stacks(distro_doc, release_name): """ :param distro_doc: dictionary form of rosdistro file, `dict` :returns: dictionary of stack names to :class:`DistroStack` instances, `{str : DistroStack}` :raises: :exc:`InvalidDistro` if distro_doc format is invalid """ # load stacks and expand out uri rules stacks = {} try: stack_props = distro_doc['stacks'] stack_props = stack_props or {} stack_names = [x for x in stack_props.keys() if not x[0] == '_'] except KeyError: raise InvalidDistro("distro is missing required 'stacks' key") for stack_name in stack_names: stack_version = stack_props[stack_name].get('version', None) rules = _get_rules(distro_doc, stack_name) if not rules: raise InvalidDistro("no VCS rules for stack [%s]" % (stack_name)) stacks[stack_name] = DistroStack(stack_name, stack_version, release_name, rules) return stacks def _distro_version(version_val): """ Parse distro version value, converting SVN revision to version value if necessary """ version_val = str(version_val) # check for no keyword sub if version_val == '$Revision$': return 0 m = re.search('\$Revision:\s*([0-9]*)\s*\$', version_val) if m is not None: version_val = 'r' + m.group(1) # Check that is a valid version string valid = string.ascii_letters + string.digits + '.+~' if False in (c in valid for c in version_val): raise InvalidDistro("Version string %s not valid" % version_val) return version_val def distro_to_rosinstall(distro, branch, variant_name=None, implicit=True, released_only=True, anonymous=True): """ :param branch: branch to convert for :param variant_name: if not None, only include stacks in the specified variant. :param implicit: if variant_name is provided, include full (recursive) dependencies of variant, default True :param released_only: only included released stacks, default True. :param anonymous: create for anonymous access rules :returns: rosinstall data in Python list format, ``[dict]`` :raises: :exc:`KeyError` If branch is invalid or if distro is mis-configured """ variant = distro.variants.get(variant_name, None) if variant_name: stack_names = set(variant.get_stack_names(implicit=implicit)) else: stack_names = distro.released_stacks.keys() rosinstall_data = [] for s in stack_names: if released_only and s not in distro.released_stacks: continue rosinstall_data.extend(distro.stacks[s].vcs_config.to_rosinstall(s, branch, anonymous)) return rosinstall_data ################################################################################ def _get_rules(distro_doc, stack_name): """ Retrieve rules from distro_doc for specified stack. This operates on the raw distro dictionary document. :param distro_doc: rosdistro document, ``dict`` :param stack_name: name of stack to get rules for, ``str`` """ # top-level named section named_rules_d = distro_doc.get('_rules', {}) # other rules to search rules_d = [distro_doc.get('stacks', {}), distro_doc.get('stacks', {}).get(stack_name, {})] rules_d = [d for d in rules_d if '_rules' in d] # last rules wins if not rules_d: return None rules_d = rules_d[-1] update_r = rules_d.get('_rules', {}) if type(update_r) == str: try: update_r = named_rules_d[update_r] except KeyError: raise InvalidDistro("no _rules named [%s]" % (update_r)) if not type(update_r) == dict: raise InvalidDistro("invalid rules: %s %s" % (update_r, type(update_r))) return update_r ################################################################################ class VcsConfig(object): """ Base representation of a rosdistro VCS rules configuration. """ def __init__(self, type_): self.type = type_ self.tarball_url = self.tarball_version = None def to_rosinstall(self, local_name, branch, anonymous): uri, version_tag = self.get_branch(branch, anonymous) if branch == 'release-tar': type_ = 'tar' else: type_ = self.type if version_tag: return [{type_: {"uri": uri, 'local-name': local_name, 'version': version_tag}}] else: return [({type_: {"uri": uri, 'local-name': local_name}})] def load(self, rules, rule_eval): """ Initialize fields of this class based on the raw rosdistro *rules* data after applying *rule_eval* function (e.g. to replace variables in rules). :param rules: raw rosdistro rules entry, ``dict`` :param rule_eval: function to evaluate rule values, ``fn(str) -> str`` """ self.tarball_url = rule_eval(TARBALL_URI_EVAL) self.tarball_version = rule_eval(TARBALL_VERSION_EVAL) def get_branch(self, branch, anonymous): """ :raises: :exc:`ValueError` If branch is invalid """ if branch == 'release-tar': return self.tarball_url, self.tarball_version else: raise ValueError(branch) def __eq__(self, other): return self.type == other.type and \ self.tarball_url == other.tarball_url class DvcsConfig(VcsConfig): """ Configuration information for a distributed VCS-style repository. Configuration fields: * ``repo_uri``: base URI of repo * ``dev_branch``: git branch the code is developed * ``distro_tag``: a tag of the latest released code for a specific ROS distribution * ``release_tag``: a tag of the code for a specific release """ def __init__(self, type_): super(DvcsConfig, self).__init__(type_) self.repo_uri = self.anon_repo_uri = None self.dev_branch = self.distro_tag = self.release_tag = None def load(self, rules, rule_eval): super(DvcsConfig, self).load(rules, rule_eval) self.repo_uri = rule_eval(rules['uri']) if 'anon-uri' in rules: self.anon_repo_uri = rule_eval(rules['anon-uri']) else: self.anon_repo_uri = self.repo_uri self.dev_branch = rule_eval(rules['dev-branch']) self.distro_tag = rule_eval(rules['distro-tag']) self.release_tag = rule_eval(rules['release-tag']) def get_branch(self, branch, anonymous): """ :raises: :exc:`KeyError` Invalid branch parameter """ if branch == 'release-tar': return super(DvcsConfig, self).get_branch(branch, anonymous) elif branch == 'devel': version_tag = self.dev_branch elif branch == 'distro': version_tag = self.distro_tag elif branch == 'release': version_tag = self.release_tag else: raise ValueError("invalid branch spec [%s]" % (branch)) # occurs, for example, with unreleased stacks. Only devel is valid if version_tag is None: raise ValueError("branch [%s] is not available for this config" % (branch)) if anonymous: return self.anon_repo_uri, version_tag else: return self.repo_uri, version_tag def __eq__(self, other): return super(DvcsConfig, self).__eq__(other) and \ self.repo_uri == other.repo_uri and \ self.anon_repo_uri == other.anon_repo_uri and \ self.dev_branch == other.dev_branch and \ self.release_tag == other.release_tag and \ self.distro_tag == other.distro_tag class GitConfig(DvcsConfig): """ Configuration information about an GIT repository. See parent class :class:`DvcsConfig` for more API information. """ def __init__(self): super(GitConfig, self).__init__('git') class HgConfig(DvcsConfig): """ Configuration information about a Mercurial repository. See parent class :class:`DvcsConfig` for more API information. """ def __init__(self): super(HgConfig, self).__init__('hg') class BzrConfig(DvcsConfig): """ Configuration information about an BZR repository. See parent class :class:`DvcsConfig` for more API information. """ def __init__(self): super(BzrConfig, self).__init__('bzr') class SvnConfig(VcsConfig): """ Configuration information about an SVN repository. Configuration fields: * ``dev``: where the code is developed * ``distro_tag``: a tag of the code for a specific ROS distribution * ``release_tag``: a tag of the code for a specific release """ def __init__(self): super(SvnConfig, self).__init__('svn') self.dev = None self.distro_tag = None self.release_tag = None # anonymously readable version of URLs above. Some repos have # separate URLs for read-only vs. writable versions of repo # and many tools need to be able to read repos without # providing credentials. self.anon_dev = None self.anon_distro_tag = None self.anon_release_tag = None def load(self, rules, rule_eval): super(SvnConfig, self).load(rules, rule_eval) for k in ['dev', 'distro-tag', 'release-tag']: if k not in rules: raise KeyError("svn rules missing required %s key: %s" % (k, rules)) self.dev = rule_eval(rules['dev']) self.distro_tag = rule_eval(rules['distro-tag']) self.release_tag = rule_eval(rules['release-tag']) # specify urls that are safe to anonymously read # from. Users must supply a complete set. if 'anon-dev' in rules: self.anon_dev = rule_eval(rules['anon-dev']) self.anon_distro_tag = rule_eval(rules['anon-distro-tag']) self.anon_release_tag = rule_eval(rules['anon-release-tag']) else: # if no login credentials, assume that anonymous is # same as normal keys. self.anon_dev = self.dev self.anon_distro_tag = self.distro_tag self.anon_release_tag = self.release_tag def get_branch(self, branch, anonymous): """ :raises: :exc:`ValueError` If branch is invalid """ if branch == 'release-tar': return super(SvnConfig, self).get_branch(branch, anonymous) else: key_map = dict(devel='dev', distro='distro_tag', release='release_tag') if branch not in key_map: raise KeyError("invalid branch spec [%s]" % (branch)) attr_name = key_map[branch] if anonymous: attr_name = 'anon_' + attr_name uri = getattr(self, attr_name) # occurs, for example, with unreleased stacks. Only devel is valid if uri is None: raise ValueError("branch [%s] is not available for this config" % (branch)) return uri, None def __eq__(self, other): return super(SvnConfig, self).__eq__(other) and \ self.dev == other.dev and \ self.distro_tag == other.distro_tag and \ self.release_tag == other.release_tag and \ self.anon_dev == other.anon_dev and \ self.anon_distro_tag == other.anon_distro_tag and \ self.anon_release_tag == other.anon_release_tag _vcs_configs = { 'svn': SvnConfig, 'git': GitConfig, 'hg': HgConfig, 'bzr': BzrConfig, } def get_vcs_configs(): """ :returns: Dictionary of supported :class:`VcsConfig` instances. Key is the VCS type name, e.g. 'svn'. ``{str: VcsConfig}`` """ return _vcs_configs.copy() def load_vcs_config(rules, rule_eval): """ Factory for creating :class:`VcsConfig` subclass based on rosdistro _rules data. :param rules: rosdistro rules data :param rules_eval: Function to apply to rule values, e.g. to convert variables. ``fn(str)->str`` :returns: :class:`VcsConfig` subclass instance with interpreted rules data. """ vcs_config = None for k, clazz in _vcs_configs.items(): if k in rules: vcs_config = clazz() vcs_config.load(rules[k], rule_eval) break return vcs_config def _current_distro_electric_parse_roscore(roscore_file): if not os.path.exists(roscore_file): return None import xml.dom.minidom try: dom = xml.dom.minidom.parse(roscore_file) tags = dom.getElementsByTagName("param") for t in tags: if t.hasAttribute('name') and t.getAttribute('name') == 'rosdistro': return t.getAttribute('value') except: return None # for < fuerte, retrieve from roscore file def _current_distro_electric(env=None): if env is None: env = os.environ from . import RosPack, get_ros_paths rospack = RosPack(get_ros_paths(env)) # there's some chance that the location of this file changes in the future try: roscore_file = os.path.join(rospack.get_path('roslaunch'), 'roscore.xml') return _current_distro_electric_parse_roscore(roscore_file) except: return None def current_distro_codename(env=None): """ Get the currently active ROS distribution codename, e.g. 'fuerte' :param env: override os.environ, ``dict`` """ if env is None: env = os.environ # ROS_DISTRO is only used in ros catkin buildspace. It is not # meant to be well publicized and thus is not declared in # rospkg.environment. if 'ROS_DISTRO' in env: return env['ROS_DISTRO'] # check for /etc/ros/distro file distro_name = None etc_ros = get_etc_ros_dir(env=env) distro_file = os.path.join(etc_ros, 'distro') if os.path.isfile(distro_file): with open(distro_file, 'r') as f: distro_name = f.read().strip() # fallback logic for pre-Fuerte if distro_name is None: distro_name = _current_distro_electric(env=env) return distro_name rospkg-1.2.3/src/rospkg/environment.py000066400000000000000000000165671360343013700200530ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Access information about ROS package system environment variables. """ import os # Enviroment Variables # Global, usually set in setup ROS_ROOT = "ROS_ROOT" ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH" ROS_HOME = "ROS_HOME" # override directory path to /etc/ros ROS_ETC_DIR = "ROS_ETC_DIR" # directory in which log files are written ROS_LOG_DIR = "ROS_LOG_DIR" # directory in which test result files are written ROS_TEST_RESULTS_DIR = "ROS_TEST_RESULTS_DIR" # Utilities def _resolve_path(p): """ @param path: path string @type path: str Catch-all utility routine for fixing ROS environment variables that are a single path (e.g. ROS_ROOT). Currently this just expands tildes to home directories, but in the future it may encode other behaviors. """ if p and p[0] == '~': return os.path.expanduser(p) return p def _resolve_paths(paths): """ Catch-all utility routine for fixing ROS environment variables that are paths (e.g. ROS_PACKAGE_PATH). Currently this just expands tildes to home directories, but in the future it may encode other behaviors. :param paths: path string with OS-defined separator (i.e. ':' for Linux), ``str`` """ splits = [p for p in paths.split(os.pathsep) if p] return os.pathsep.join([_resolve_path(p) for p in splits]) def get_ros_paths(env=None): """ Get an ordered list of ROS paths to search for ROS packages, stacks, and other resources. This is generally computed from :envvar:`ROS_ROOT` and :envvar:`ROS_PACKAGE_PATH`. :param env: override environment dictionary """ if env is None: env = os.environ return _compute_package_paths(get_ros_root(env), get_ros_package_path(env)) def get_ros_root(env=None): """ Get the current :envvar:`ROS_ROOT`. :param env: override environment dictionary, ``dict`` """ if env is None: env = os.environ ros_root = env.get(ROS_ROOT, None) if ros_root: ros_root = os.path.normpath(ros_root) return ros_root def get_ros_package_path(env=None): """ Get the current ROS_PACKAGE_PATH. :param env: (optional) environment override, ``dict`` """ if env is None: env = os.environ return env.get(ROS_PACKAGE_PATH, None) def get_ros_home(env=None): """ Get directory location of '.ros' directory (aka ROS home). possible locations for this. The :envvar:`ROS_HOME` environment variable has priority. If :envvar:`ROS_HOME` is not set, ``$HOME/.ros`` is used. :param env: override ``os.environ`` dictionary, ``dict`` :returns: path to use use for log file directory, ``str`` """ if env is None: env = os.environ if ROS_HOME in env: return env[ROS_HOME] else: # slightly more robust than $HOME return os.path.join(os.path.expanduser('~'), '.ros') def get_log_dir(env=None): """ Get directory to use for writing log files. There are multiple possible locations for this. The ROS_LOG_DIR environment variable has priority. If that is not set, then ROS_HOME/log is used. If ROS_HOME is not set, $HOME/.ros/log is used. :param env: override os.environ dictionary, ``dict`` :returns: path to use use for log file directory, ``str`` """ if env is None: env = os.environ if ROS_LOG_DIR in env: return env[ROS_LOG_DIR] else: return os.path.join(get_ros_home(env), 'log') def get_test_results_dir(env=None): """ Get directory to use for writing test result files. There are multiple possible locations for this. The :envvar:`ROS_TEST_RESULTS_DIR` environment variable has priority. If that is set, :envvar:`ROS_TEST_RESULTS_DIR` is returned. If :envvar:`ROS_TEST_RESULTS_DIR` is not set, then :envvar:`ROS_HOME`/test_results is used. If :envvar:`ROS_HOME` is not set, ``$HOME/.ros/test_results`` is used. :param env: environment dictionary (defaults to ``os.environ``), ``dict`` :returns: path to use use for log file directory, ``str`` """ if env is None: env = os.environ if ROS_TEST_RESULTS_DIR in env: return env[ROS_TEST_RESULTS_DIR] else: return os.path.join(get_ros_home(env), 'test_results') def _compute_package_paths(ros_root, ros_package_path): """ Get the paths to search for packages in normal precedence order (i.e. first path wins). :param ros_root: value of ROS_ROOT parameter, ``str`` :param ros_package_path: value of ROS_PACKAGE_PATH parameter, ``str`` :returns: paths to search in reverse order of precedence, ``[str]`` """ paths = [] if ros_root: paths.append(ros_root) if ros_package_path: paths.extend([x for x in ros_package_path.split(os.pathsep) if x.strip()]) return paths def on_ros_path(p, env=None): """ Check to see if filesystem path is on paths specified in ROS environment (:envvar:`ROS_ROOT`, :envvar:`ROS_PACKAGE_PATH`). :param p: path, ``str`` :return: ``True`` if p is on the ROS path, ``bool`` """ if env is None: env = os.environ package = os.path.realpath(_resolve_path(p)) # filter out non-paths (e.g. if no ROS environment is configured) paths = get_ros_paths(env) paths = [os.path.realpath(_resolve_path(x)) for x in paths] return bool([x for x in paths if package == x or package.startswith(x + os.sep)]) def get_etc_ros_dir(env=None): """ Get directory location of ``/etc/ros`` directory. The :envvar:`ROS_ETC_DIR` environment variable has priority. If :envvar:`ROS_ETC_DIR` is not set, ``/etc/ros`` is used. :param env: override environment dictionary :return: path to use use for log file directory """ if env is None: env = os.environ if ROS_ETC_DIR in env: return env[ROS_ETC_DIR] else: return '/etc/ros' rospkg-1.2.3/src/rospkg/manifest.py000066400000000000000000000426471360343013700173130ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2008, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Library for processing 'manifest' files, i.e. manifest.xml and stack.xml. """ import os import sys import xml.dom.minidom as dom from .common import MANIFEST_FILE, PACKAGE_FILE, STACK_FILE # stack.xml and manifest.xml have the same internal tags right now REQUIRED = ['license'] ALLOWXHTML = ['description'] OPTIONAL = ['author', 'logo', 'url', 'brief', 'description', 'status', 'notes', 'depend', 'rosdep', 'export', 'review', 'versioncontrol', 'platform', 'version', 'rosbuild2', 'catkin'] VALID = REQUIRED + OPTIONAL class InvalidManifest(Exception): pass def _get_nodes_by_name(n, name): return [t for t in n.childNodes if t.nodeType == t.ELEMENT_NODE and t.tagName == name] def _check_optional(name, allowXHTML=False, merge_multiple=False): """ Validator for optional elements. :raise: :exc:`InvalidManifest` If validation fails """ def check(n, filename): n = _get_nodes_by_name(n, name) if len(n) > 1 and not merge_multiple: raise InvalidManifest("Invalid manifest file [%s]: must have a single '%s' element" % (filename, name)) if n: values = [] for child in n: if allowXHTML: values.append(''.join([x.toxml() for x in child.childNodes])) else: values.append(_get_text(child.childNodes).strip()) return ', '.join(values) return check def _check_required(name, allowXHTML=False, merge_multiple=False): """ Validator for required elements. :raise: :exc:`InvalidManifest` If validation fails """ def check(n, filename): n = _get_nodes_by_name(n, name) if not n: return '' if len(n) != 1 and not merge_multiple: raise InvalidManifest("Invalid manifest file: must have only one '%s' element" % name) values = [] for child in n: if allowXHTML: values.append(''.join([x.toxml() for x in child.childNodes])) else: values.append(_get_text(child.childNodes).strip()) return ', '.join(values) return check def _check_platform(n, filename): """ Validator for manifest platform. :raise: :exc:`InvalidManifest` If validation fails """ platforms = _get_nodes_by_name(n, 'platform') try: vals = [(p.attributes['os'].value, p.attributes['version'].value, p.getAttribute('notes')) for p in platforms] except KeyError as e: raise InvalidManifest(" tag is missing required '%s' attribute" % str(e)) return [Platform(*v) for v in vals] def _check_depends(type_, n, filename): """ Validator for manifest depends. :raise: :exc:`InvalidManifest` If validation fails """ nodes = _get_nodes_by_name(n, 'depend') # TDS 20110419: this is a hack. # rosbuild2 has a tag, # which is confusing this subroutine with # KeyError: 'package' # for now, explicitly don't consider thirdparty depends depends = [e.attributes for e in nodes if 'thirdparty' not in e.attributes.keys()] try: depend_names = [d[type_].value for d in depends] except KeyError: raise InvalidManifest("Invalid manifest file [%s]: depends is missing '%s' attribute" % (filename, type_)) return [Depend(name, type_) for name in depend_names] def _check_rosdeps(n, filename): """ Validator for stack rosdeps. :raises: :exc:`InvalidManifest` If validation fails """ try: nodes = _get_nodes_by_name(n, 'rosdep') rosdeps = [e.attributes for e in nodes] names = [d['name'].value for d in rosdeps] return [RosDep(n) for n in names] except KeyError: raise InvalidManifest("invalid rosdep tag in [%s]" % (filename)) def _attrs(node): attrs = {} for k in node.attributes.keys(): attrs[k] = node.attributes.get(k).value return attrs def _check_exports(n, filename): ret_val = [] for e in _get_nodes_by_name(n, 'export'): elements = [c for c in e.childNodes if c.nodeType == c.ELEMENT_NODE] ret_val.extend([Export(t.tagName, _attrs(t), _get_text(t.childNodes)) for t in elements]) return ret_val def _check(name, merge_multiple=False): """ Generic validator for text-based tags. """ if name in REQUIRED: if name in ALLOWXHTML: return _check_required(name, True, merge_multiple) return _check_required(name, merge_multiple=merge_multiple) elif name in OPTIONAL: if name in ALLOWXHTML: return _check_optional(name, True, merge_multiple) return _check_optional(name, merge_multiple=merge_multiple) class Export(object): """ Manifest 'export' tag """ def __init__(self, tag, attrs, str): """ Create new export instance. :param tag: name of the XML tag @type tag: str :param attrs: dictionary of XML attributes for this export tag @type attrs: dict :param str: string value contained by tag, if any @type str: str """ self.tag = tag self.attrs = attrs self.str = str def get(self, attr): """ :returns: value of attribute or ``None`` if attribute not set, ``str`` """ return self.attrs.get(attr, None) class Platform(object): """ Manifest 'platform' tag """ __slots__ = ['os', 'version', 'notes'] def __init__(self, os_, version, notes=None): """ Create new depend instance. :param os_: OS name. must be non-empty, ``str`` :param version: OS version. must be non-empty, ``str`` :param notes: (optional) notes about platform support, ``str`` """ if not os_: raise ValueError("bad 'os' attribute") if not version: raise ValueError("bad 'version' attribute") self.os = os_ self.version = version self.notes = notes def __str__(self): return "%s %s" % (self.os, self.version) def __repr__(self): return "%s %s" % (self.os, self.version) def __eq__(self, obj): """ Override equality test. notes *are* considered in the equality test. """ if not isinstance(obj, Platform): return False return self.os == obj.os and self.version == obj.version and self.notes == obj.notes def __hash__(self): """ :returns: an integer, which must be the same for two equal instances. Since __eq__ is defined, Python 3 requires that this class also provide a __hash__ method. """ return hash(self.os) ^ hash(self.version) ^ hash(self.notes) class Depend(object): """ Manifest 'depend' tag """ __slots__ = ['name', 'type'] def __init__(self, name, type_): """ Create new depend instance. :param name: dependency name (e.g. package/stack). Must be non-empty @type name: str :param type_: dependency type, e.g. 'package', 'stack'. Must be non-empty. @type type_: str @raise ValueError: if parameters are invalid """ if not name: raise ValueError("bad '%s' attribute" % (type_)) if not type_: raise ValueError("type_ must be specified") self.name = name self.type = type_ def __str__(self): return self.name def __repr__(self): return self.name def __eq__(self, obj): if not isinstance(obj, Depend): return False return self.name == obj.name and self.type == obj.type def __hash__(self): """ :returns: an integer, which must be the same for two equal instances. Since __eq__ is defined, Python 3 requires that this class also provide a __hash__ method. """ return hash(self.name) ^ hash(self.type) class RosDep(object): """ Manifest 'rosdep' tag """ __slots__ = ['name'] def __init__(self, name): """ Create new rosdep instance. :param name: dependency name. Must be non-empty. ``str`` """ if not name: raise ValueError("bad 'name' attribute") self.name = name class Manifest(object): """ Object representation of a ROS manifest file (``manifest.xml`` and ``stack.xml``) """ __slots__ = [ 'description', 'brief', 'author', 'license', 'licenses', 'license_url', 'url', 'depends', 'rosdeps', 'platforms', 'exports', 'version', 'status', 'notes', 'unknown_tags', 'type', 'filename', 'is_catkin'] def __init__(self, type_='package', filename=None, is_catkin=False): """ :param type: `'package'` or `'stack'` :param filename: location of manifest file. Necessary if converting ``${prefix}`` in ```` values, ``str``. """ self.description = self.brief = self.author = \ self.license = self.license_url = \ self.url = self.status = \ self.version = self.notes = '' self.licenses = [] self.depends = [] self.rosdeps = [] self.exports = [] self.platforms = [] self.is_catkin = is_catkin self.type = type_ self.filename = filename # store unrecognized tags during parsing self.unknown_tags = [] def get_export(self, tag, attr, convert=True): """ :param tag: Name of XML tag to retrieve, ``str`` :param attr: Name of XML attribute to retrieve from tag, ``str`` :param convert: If ``True``, interpret variables (e.g. ``${prefix}``) export values. :returns: exports that match the specified tag and attribute, e.g. 'python', 'path'. ``[str]`` """ vals = [e.get(attr) for e in self.exports if e.tag == tag if e.get(attr) is not None] if convert: if not self.filename: raise ValueError("cannot convert export values when filename for Manifest is not set") prefix = os.path.dirname(self.filename) vals = [v.replace('${prefix}', prefix) for v in vals] return vals def _get_text(nodes): """ DOM utility routine for getting contents of text nodes """ return "".join([n.data for n in nodes if n.nodeType == n.TEXT_NODE]) _static_rosdep_view = None def parse_manifest_file(dirpath, manifest_name, rospack=None): """ Parse manifest file (package, stack). Type will be inferred from manifest_name. :param dirpath: directory of manifest file, ``str`` :param manifest_name: ``MANIFEST_FILE`` or ``STACK_FILE``, ``str`` :param rospack: a RosPack instance to identify local packages as ROS packages :returns: return :class:`Manifest` instance, populated with parsed fields :raises: :exc:`InvalidManifest` :raises: :exc:`IOError` """ filename = os.path.join(dirpath, manifest_name) if not os.path.isfile(filename): # hack for backward compatibility package_filename = os.path.join(dirpath, PACKAGE_FILE) if not os.path.isfile(package_filename): raise IOError("Invalid/non-existent manifest file: %s" % filename) manifest = Manifest(filename=filename, is_catkin=True) # extract all information from package.xml from catkin_pkg.package import parse_package p = parse_package(package_filename) # put these into manifest manifest.description = p.description manifest.author = ', '.join([('Maintainer: %s' % str(m)) for m in p.maintainers] + [str(a) for a in p.authors]) manifest.license = ', '.join(p.licenses) manifest.licenses = p.licenses if p.urls: manifest.url = str(p.urls[0]) manifest.version = p.version for export in p.exports: manifest.exports.append(Export(export.tagname, export.attributes, export.content)) # split ros and system dependencies (using rosdep) try: from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty global _static_rosdep_view # initialize rosdep view once if _static_rosdep_view is None: _static_rosdep_view = init_rospack_interface() if is_view_empty(_static_rosdep_view): sys.stderr.write("the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'\n") _static_rosdep_view = False if _static_rosdep_view: depends = set([]) rosdeps = set([]) for d in (p.buildtool_depends + p.build_depends + p.run_depends + p.test_depends): if (rospack and d.name in rospack.list()) or is_ros_package(_static_rosdep_view, d.name): depends.add(d.name) if is_system_dependency(_static_rosdep_view, d.name): rosdeps.add(d.name) for name in depends: manifest.depends.append(Depend(name, 'package')) for name in rosdeps: manifest.rosdeps.append(RosDep(name)) except ImportError: pass return manifest with open(filename, 'rb') as f: data = f.read() if sys.version_info[0] >= 3: data = data.decode('utf-8') return parse_manifest(manifest_name, data, filename) def parse_manifest(manifest_name, string, filename='string'): """ Parse manifest string contents. :param manifest_name: ``MANIFEST_FILE`` or ``STACK_FILE``, ``str`` :param string: manifest.xml contents, ``str`` :param filename: full file path for debugging, ``str`` :returns: return parsed :class:`Manifest` """ if manifest_name == MANIFEST_FILE: type_ = 'package' elif manifest_name == STACK_FILE: type_ = 'stack' try: d = dom.parseString(string) except Exception as e: raise InvalidManifest("[%s] invalid XML: %s" % (filename, e)) m = Manifest(type_, filename) p = _get_nodes_by_name(d, type_) if len(p) != 1: raise InvalidManifest("manifest [%s] must have a single '%s' element" % (filename, type_)) p = p[0] m.description = _check('description')(p, filename) m.brief = '' try: tag = _get_nodes_by_name(p, 'description')[0] m.brief = tag.getAttribute('brief') or '' except: # means that 'description' tag is missing pass m.depends = _check_depends(type_, p, filename) m.rosdeps = _check_rosdeps(p, filename) m.platforms = _check_platform(p, filename) m.exports = _check_exports(p, filename) m.license = _check('license')(p, filename) m.license_url = '' try: tag = _get_nodes_by_name(p, 'license')[0] m.license_url = tag.getAttribute('url') or '' except: pass # manifest is missing required 'license' tag m.status = 'unreviewed' try: tag = _get_nodes_by_name(p, 'review')[0] m.status = tag.getAttribute('status') or '' except: pass # manifest is missing optional 'review status' tag m.notes = '' try: tag = _get_nodes_by_name(p, 'review')[0] m.notes = tag.getAttribute('notes') or '' except: pass # manifest is missing optional 'review notes' tag m.author = _check('author', True)(p, filename) m.url = _check('url')(p, filename) m.version = _check('version')(p, filename) # do some validation on what we just parsed if type_ == 'stack': if m.exports: raise InvalidManifest("stack manifests are not allowed to have exports") if m.rosdeps: raise InvalidManifest("stack manifests are not allowed to have rosdeps") m.is_catkin = bool(_get_nodes_by_name(p, 'catkin')) or bool(_get_nodes_by_name(p, 'name')) # store unrecognized tags m.unknown_tags = [e for e in p.childNodes if e.nodeType == e.ELEMENT_NODE and e.tagName not in VALID] return m rospkg-1.2.3/src/rospkg/os_detect.py000066400000000000000000000606241360343013700174510ustar00rootroot00000000000000# Copyright (c) 2009, 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 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # Author Tully Foote/tfoote@willowgarage.com, Ken Conley/kwc@willowgarage.com """ Library for detecting the current OS, including detecting specific Linux distributions. """ from __future__ import absolute_import from __future__ import print_function import codecs # to be removed after Ubuntu Xenial is out of support import sys if sys.version_info >= (3, 8): import distro else: import platform as distro import locale import os import platform import subprocess def _read_stdout(cmd): try: pop = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE) (std_out, std_err) = pop.communicate() # Python 2.6 compatibility if isinstance(std_out, str): return std_out.strip() return std_out.decode(encoding='UTF-8').strip() except: return None def uname_get_machine(): """ Linux: wrapper around uname to determine if OS is 64-bit """ return _read_stdout(['uname', '-m']) def read_issue(filename="/etc/issue"): """ :returns: list of strings in issue file, or None if issue file cannot be read/split """ if os.path.exists(filename): with codecs.open(filename, 'r', encoding=locale.getpreferredencoding()) as f: return f.read().split() return None def read_os_release(filename=None): """ :returns: Dictionary of key value pairs from /etc/os-release or fallback to /usr/lib/os-release, with quotes stripped from values """ if filename is None: filename = '/etc/os-release' if not os.path.exists(filename): filename = '/usr/lib/os-release' if not os.path.exists(filename): return None release_info = {} with codecs.open(filename, 'r', encoding=locale.getpreferredencoding()) as f: for line in f: key, val = line.rstrip('\n').partition('=')[::2] release_info[key] = val.strip('"') return release_info class OsNotDetected(Exception): """ Exception to indicate failure to detect operating system. """ pass class OsDetector(object): """ Generic API for detecting a specific OS. """ def is_os(self): """ :returns: if the specific OS which this class is designed to detect is present. Only one version of this class should return for any version. """ raise NotImplementedError("is_os unimplemented") def get_version(self): """ :returns: standardized version for this OS. (aka Ubuntu Hardy Heron = "8.04") :raises: :exc:`OsNotDetected` if called on incorrect OS. """ raise NotImplementedError("get_version unimplemented") def get_codename(self): """ :returns: codename for this OS. (aka Ubuntu Hardy Heron = "hardy"). If codenames are not available for this OS, return empty string. :raises: :exc:`OsNotDetected` if called on incorrect OS. """ raise NotImplementedError("get_codename unimplemented") class LsbDetect(OsDetector): """ Generic detector for Debian, Ubuntu, and Mint """ def __init__(self, lsb_name, get_version_fn=None): self.lsb_name = lsb_name if hasattr(distro, "linux_distribution"): self.lsb_info = distro.linux_distribution(full_distribution_name=0) elif hasattr(distro, "dist"): self.lsb_info = distro.dist() else: self.lsb_info = None def is_os(self): if self.lsb_info is None: return False # Work around platform returning 'Ubuntu' and distro returning 'ubuntu' return self.lsb_info[0].lower() == self.lsb_name.lower() def get_version(self): if self.is_os(): return self.lsb_info[1] raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return self.lsb_info[2] raise OsNotDetected('called in incorrect OS') class Debian(LsbDetect): def __init__(self, get_version_fn=None): super(Debian, self).__init__('debian', get_version_fn) def get_codename(self): if self.is_os(): v = self.get_version() if v.startswith('7.'): return 'wheezy' if v.startswith('8.'): return 'jessie' if v.startswith('9.'): return 'stretch' if v.startswith('10.'): return 'buster' return '' class FdoDetect(OsDetector): """ Generic detector for operating systems implementing /etc/os-release, as defined by the os-release spec hosted at Freedesktop.org (Fdo): http://www.freedesktop.org/software/systemd/man/os-release.html Requires that the "ID", and "VERSION_ID" keys are set in the os-release file. Codename is parsed from the VERSION key if available: either using the format "foo, CODENAME" or "foo (CODENAME)." If the VERSION key is not present, the VERSION_ID is value is used as the codename. """ def __init__(self, fdo_id): release_info = read_os_release() if release_info is not None and "ID" in release_info and release_info["ID"] == fdo_id: self.release_info = release_info else: self.release_info = None def is_os(self): return self.release_info is not None and "VERSION_ID" in self.release_info def get_version(self): if self.is_os(): return self.release_info["VERSION_ID"] raise OsNotDetected("called in incorrect OS") def get_codename(self): if self.is_os(): if "VERSION" in self.release_info: version = self.release_info["VERSION"] # FDO style: works with Fedora, Debian, Suse. if '(' in version: codename = version[version.find("(") + 1:version.find(")")] # Ubuntu style elif '"' in version: codename = version[version.find(",") + 1:].lstrip(' ').split()[0] # Indeterminate style else: codename = version return codename.lower() else: return self.get_version() raise OsNotDetected("called in incorrect OS") class OpenEmbedded(OsDetector): """ Detect OpenEmbedded. """ def is_os(self): return "ROS_OS_OVERRIDE" in os.environ and os.environ["ROS_OS_OVERRIDE"] == "openembedded" def get_version(self): if self.is_os(): return "" raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return "" raise OsNotDetected('called in incorrect OS') class OpenSuse(OsDetector): """ Detect OpenSuse OS. """ def __init__(self, brand_file="/etc/SuSE-brand", release_file="/etc/SuSE-release"): self._brand_file = brand_file self._release_file = release_file def is_os(self): os_list = read_issue(self._brand_file) return os_list and os_list[0] == "openSUSE" def get_version(self): if self.is_os() and os.path.exists(self._brand_file): with open(self._brand_file, 'r') as fh: os_list = fh.read().strip().split('\n') if len(os_list) == 2: os_list = os_list[1].split(' = ') if os_list[0] == "VERSION": return os_list[1] raise OsNotDetected('cannot get version on this OS') def get_codename(self): # /etc/SuSE-release is deprecated since 13.1 if self._release_file is None: return "" if self.is_os() and os.path.exists(self._release_file): with open(self._release_file, 'r') as fh: os_list = fh.read().strip().split('\n') for line in os_list: kv = line.split(' = ') if kv[0] == "CODENAME": return kv[1] raise OsNotDetected('called in incorrect OS') class Fedora(OsDetector): """ Detect Fedora OS. """ def __init__(self, release_file="/etc/redhat-release", issue_file="/etc/issue"): self._release_file = release_file self._issue_file = issue_file def is_os(self): os_list = read_issue(self._release_file) return os_list and os_list[0] == "Fedora" def get_version(self): if self.is_os(): os_list = read_issue(self._issue_file) idx = os_list.index('release') if idx > 0: return os_list[idx + 1] raise OsNotDetected('cannot get version on this OS') def get_codename(self): if self.is_os(): os_list = read_issue(self._release_file) idx = os_list.index('release') matches = [x for x in os_list if x[0] == '('] codename = matches[0][1:] if codename[-1] == ')': codename = codename[:-1] return codename.lower() raise OsNotDetected('called in incorrect OS') class Rhel(Fedora): """ Detect Redhat OS. """ def __init__(self, release_file="/etc/redhat-release"): self._release_file = release_file def is_os(self): os_list = read_issue(self._release_file) return os_list and os_list[:3] == ['Red', 'Hat', 'Enterprise'] def get_version(self): if self.is_os(): os_list = read_issue(self._release_file) idx = os_list.index('release') return os_list[idx + 1] raise OsNotDetected('called in incorrect OS') def get_codename(self): # taroon, nahant, tikanga, santiago, pensacola if self.is_os(): os_list = read_issue(self._release_file) idx = os_list.index('release') matches = [x for x in os_list if x[0] == '('] codename = matches[0][1:] if codename[-1] == ')': codename = codename[:-1] return codename.lower() raise OsNotDetected('called in incorrect OS') # Source: https://en.wikipedia.org/wiki/MacOS#Versions _osx_codename_map = { 4: 'tiger', 5: 'leopard', 6: 'snow', 7: 'lion', 8: 'mountain lion', 9: 'mavericks', 10: 'yosemite', 11: 'el capitan', 12: 'sierra', 13: 'high sierra', 14: 'mojave', 15: 'catalina', } def _osx_codename(major, minor): if major != 10 or minor not in _osx_codename_map: raise OsNotDetected("unrecognized version: %s.%s" % (major, minor)) return _osx_codename_map[minor] class OSX(OsDetector): """ Detect OS X """ def __init__(self, sw_vers_file="/usr/bin/sw_vers"): self._sw_vers_file = sw_vers_file def is_os(self): return os.path.exists(self._sw_vers_file) def get_codename(self): if self.is_os(): version = self.get_version() import distutils.version # To parse version numbers try: ver = distutils.version.StrictVersion(version).version except ValueError: raise OsNotDetected("invalid version string: %s" % (version)) return _osx_codename(*ver[0:2]) raise OsNotDetected('called in incorrect OS') def get_version(self): if self.is_os(): return _read_stdout([self._sw_vers_file, '-productVersion']) raise OsNotDetected('called in incorrect OS') class QNX(OsDetector): ''' Detect QNX realtime OS. @author: Isaac Saito ''' def __init__(self, uname_file='/bin/uname'): ''' @param uname_file: An executable that can be used for detecting OS name and version. ''' self._os_name_qnx = 'QNX' self._uname_file = uname_file def is_os(self): if os.path.exists(self._uname_file): std_out = _read_stdout([self._uname_file]) return std_out.strip() == self._os_name_qnx else: return False def get_codename(self): if self.is_os(): return '' raise OsNotDetected('called in incorrect OS') def get_version(self): if self.is_os() and os.path.exists(self._uname_file): return _read_stdout([self._uname_file, "-r"]) raise OsNotDetected('called in incorrect OS') class Arch(OsDetector): """ Detect Arch Linux. """ def __init__(self, release_file='/etc/arch-release'): self._release_file = release_file def is_os(self): return os.path.exists(self._release_file) def get_version(self): if self.is_os(): return "" raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return "" raise OsNotDetected('called in incorrect OS') class Manjaro(Arch): """ Detect Manjaro. """ def __init__(self, release_file='/etc/manjaro-release'): super(Manjaro, self).__init__(release_file) class Centos(OsDetector): """ Detect CentOS. """ def __init__(self, release_file='/etc/redhat-release'): self._release_file = release_file def is_os(self): os_list = read_issue(self._release_file) return os_list and os_list[0] == 'CentOS' def get_version(self): if self.is_os(): os_list = read_issue(self._release_file) idx = os_list.index('release') return os_list[idx + 1] raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): os_list = read_issue(self._release_file) idx = os_list.index('release') matches = [x for x in os_list if x[0] == '('] codename = matches[0][1:] if codename[-1] == ')': codename = codename[:-1] return codename.lower() raise OsNotDetected('called in incorrect OS') class Cygwin(OsDetector): """ Detect Cygwin presence on Windows OS. """ def is_os(self): return os.path.exists("/usr/bin/cygwin1.dll") def get_version(self): if self.is_os(): return _read_stdout(['uname', '-r']) raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return '' raise OsNotDetected('called in incorrect OS') class Gentoo(OsDetector): """ Detect Gentoo OS. """ def __init__(self, release_file="/etc/gentoo-release"): self._release_file = release_file def is_os(self): os_list = read_issue(self._release_file) return os_list and os_list[0] == "Gentoo" and os_list[1] == "Base" def get_version(self): if self.is_os(): os_list = read_issue(self._release_file) return os_list[4] raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return '' raise OsNotDetected('called in incorrect OS') class Funtoo(Gentoo): """ Detect Funtoo OS, a Gentoo Variant. """ def __init__(self, release_file="/etc/gentoo-release"): Gentoo.__init__(self, release_file) def is_os(self): os_list = read_issue(self._release_file) return os_list and os_list[0] == "Funtoo" and os_list[1] == "Linux" class FreeBSD(OsDetector): """ Detect FreeBSD OS. """ def __init__(self, uname_file="/usr/bin/uname"): self._uname_file = uname_file def is_os(self): if os.path.exists(self._uname_file): std_out = _read_stdout([self._uname_file]) return std_out.strip() == "FreeBSD" else: return False def get_version(self): if self.is_os() and os.path.exists(self._uname_file): return _read_stdout([self._uname_file, "-r"]) raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return '' raise OsNotDetected('called in incorrect OS') class Slackware(OsDetector): """ Detect SlackWare Linux. """ def __init__(self, release_file='/etc/slackware-version'): self._release_file = release_file def is_os(self): return os.path.exists(self._release_file) def get_version(self): if self.is_os(): os_list = read_issue(self._release_file) return os_list[1] raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return '' raise OsNotDetected('called in incorrect OS') class Windows(OsDetector): """ Detect Windows OS. """ def is_os(self): return platform.system() == "Windows" def get_version(self): if self.is_os(): return platform.version() raise OsNotDetected('called in incorrect OS') def get_codename(self): if self.is_os(): return platform.release() raise OsNotDetected('called in incorrect OS') class OsDetect: """ This class will iterate over registered classes to lookup the active OS and version """ default_os_list = [] def __init__(self, os_list=None): if os_list is None: os_list = OsDetect.default_os_list self._os_list = os_list self._os_name = None self._os_version = None self._os_codename = None self._os_detector = None self._override = False @staticmethod def register_default(os_name, os_detector): """ Register detector to be used with all future instances of :class:`OsDetect`. The new detector will have precedence over any previously registered detectors associated with *os_name*. :param os_name: OS key associated with OS detector :param os_detector: :class:`OsDetector` instance """ OsDetect.default_os_list.insert(0, (os_name, os_detector)) def detect_os(self, env=None): """ Detect operating system. Return value can be overridden by the :env:`ROS_OS_OVERRIDE` environment variable. :param env: override ``os.environ`` :returns: (os_name, os_version, os_codename), ``(str, str, str)`` :raises: :exc:`OsNotDetected` if OS could not be detected """ if env is None: env = os.environ if 'ROS_OS_OVERRIDE' in env: splits = env["ROS_OS_OVERRIDE"].split(':') self._os_name = splits[0] if len(splits) > 1: self._os_version = splits[1] if len(splits) > 2: self._os_codename = splits[2] else: self._os_codename = '' else: self._os_version = self._os_codename = '' self._override = True else: for os_name, os_detector in self._os_list: if os_detector.is_os(): self._os_name = os_name self._os_version = os_detector.get_version() self._os_codename = os_detector.get_codename() self._os_detector = os_detector break if self._os_name: return self._os_name, self._os_version, self._os_codename else: # No solution found attempted = [x[0] for x in self._os_list] raise OsNotDetected("Could not detect OS, tried %s" % attempted) def get_detector(self, name=None): """ Get detector used for specified OS name, or the detector for this OS if name is ``None``. :raises: :exc:`KeyError` """ if name is None: if not self._os_detector: self.detect_os() return self._os_detector else: try: return [d for d_name, d in self._os_list if d_name == name][0] except IndexError: raise KeyError(name) def add_detector(self, name, detector): """ Add detector to list of detectors used by this instance. *detector* will override any previous detectors associated with *name*. :param name: OS name that detector matches :param detector: :class:`OsDetector` instance """ self._os_list.insert(0, (name, detector)) def get_name(self): if not self._os_name: self.detect_os() return self._os_name def get_version(self): if not self._os_version: self.detect_os() return self._os_version def get_codename(self): if not self._os_codename: self.detect_os() return self._os_codename OS_ALPINE = 'alpine' OS_ARCH = 'arch' OS_MANJARO = 'manjaro' OS_CENTOS = 'centos' OS_CYGWIN = 'cygwin' OS_DEBIAN = 'debian' OS_ELEMENTARY = 'elementary' OS_ELEMENTARY_OLD = 'elementary' OS_FEDORA = 'fedora' OS_FREEBSD = 'freebsd' OS_FUNTOO = 'funtoo' OS_GENTOO = 'gentoo' OS_LINARO = 'linaro' OS_MINT = 'mint' OS_MX = 'mx' OS_NEON = 'neon' OS_OPENEMBEDDED = 'openembedded' OS_OPENSUSE = 'opensuse' OS_OPENSUSE13 = 'opensuse' OS_TIZEN = 'tizen' OS_OSX = 'osx' OS_QNX = 'qnx' OS_RHEL = 'rhel' OS_SLACKWARE = 'slackware' OS_UBUNTU = 'ubuntu' OS_CLEARLINUX = 'clearlinux' OS_NIXOS = 'nixos' OS_WINDOWS = 'windows' OS_ZORIN = 'zorin' OsDetect.register_default(OS_ALPINE, FdoDetect("alpine")) OsDetect.register_default(OS_ARCH, Arch()) OsDetect.register_default(OS_MANJARO, Manjaro()) OsDetect.register_default(OS_CENTOS, Centos()) OsDetect.register_default(OS_CYGWIN, Cygwin()) OsDetect.register_default(OS_DEBIAN, Debian()) OsDetect.register_default(OS_ELEMENTARY, LsbDetect("elementary")) OsDetect.register_default(OS_ELEMENTARY_OLD, LsbDetect("elementary OS")) OsDetect.register_default(OS_FEDORA, FdoDetect("fedora")) OsDetect.register_default(OS_FREEBSD, FreeBSD()) OsDetect.register_default(OS_FUNTOO, Funtoo()) OsDetect.register_default(OS_GENTOO, Gentoo()) OsDetect.register_default(OS_LINARO, LsbDetect("Linaro")) OsDetect.register_default(OS_MINT, LsbDetect("LinuxMint")) OsDetect.register_default(OS_MX, LsbDetect("MX")) OsDetect.register_default(OS_NEON, LsbDetect("neon")) OsDetect.register_default(OS_OPENEMBEDDED, OpenEmbedded()) OsDetect.register_default(OS_OPENSUSE, OpenSuse()) OsDetect.register_default(OS_OPENSUSE13, OpenSuse(brand_file='/etc/SUSE-brand', release_file=None)) OsDetect.register_default(OS_OPENSUSE, FdoDetect("opensuse-tumbleweed")) OsDetect.register_default(OS_OPENSUSE, FdoDetect("opensuse")) OsDetect.register_default(OS_TIZEN, FdoDetect("tizen")) OsDetect.register_default(OS_OSX, OSX()) OsDetect.register_default(OS_QNX, QNX()) OsDetect.register_default(OS_RHEL, Rhel()) OsDetect.register_default(OS_SLACKWARE, Slackware()) OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu")) OsDetect.register_default(OS_CLEARLINUX, FdoDetect("clear-linux-os")) OsDetect.register_default(OS_NIXOS, FdoDetect("nixos")) OsDetect.register_default(OS_WINDOWS, Windows()) OsDetect.register_default(OS_ZORIN, LsbDetect("Zorin")) if __name__ == '__main__': detect = OsDetect() print("OS Name: %s" % detect.get_name()) print("OS Version: %s" % detect.get_version()) print("OS Codename: %s" % detect.get_codename()) rospkg-1.2.3/src/rospkg/rospack.py000066400000000000000000000456411360343013700171440ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. import os from threading import Lock from xml.etree.cElementTree import ElementTree from .common import MANIFEST_FILE, PACKAGE_FILE, ResourceNotFound, STACK_FILE from .environment import get_ros_paths from .manifest import InvalidManifest, parse_manifest_file from .stack import InvalidStack, parse_stack_file _cache_lock = Lock() def list_by_path(manifest_name, path, cache): """ List ROS stacks or packages within the specified path. The cache will be updated with the resource->path mappings. list_by_path() does NOT returned cached results -- it only updates the cache. :param manifest_name: MANIFEST_FILE or STACK_FILE, ``str`` :param path: path to list resources in, ``str`` :param cache: path cache to update. Maps resource name to directory path, ``{str: str}`` :returns: complete list of resources in ROS environment, ``[str]`` """ resources = [] path = os.path.abspath(path) basename = os.path.basename for d, dirs, files in os.walk(path, topdown=True, followlinks=True): if 'CATKIN_IGNORE' in files: del dirs[:] continue # leaf if PACKAGE_FILE in files: # parse package.xml and decide if it matches the search criteria root = ElementTree(None, os.path.join(d, PACKAGE_FILE)) is_metapackage = root.find('./export/metapackage') is not None if ( (manifest_name == STACK_FILE and is_metapackage) or (manifest_name == MANIFEST_FILE and not is_metapackage) or manifest_name == PACKAGE_FILE ): resource_name = root.findtext('name').strip(' \n\r\t') if resource_name not in resources: resources.append(resource_name) if cache is not None: cache[resource_name] = d del dirs[:] continue # leaf if manifest_name in files: resource_name = basename(d) if resource_name not in resources: resources.append(resource_name) if cache is not None: cache[resource_name] = d del dirs[:] continue # leaf elif MANIFEST_FILE in files or PACKAGE_FILE in files: # noop if manifest_name==MANIFEST_FILE, but a good # optimization for stacks. del dirs[:] continue # leaf elif 'rospack_nosubdirs' in files: del dirs[:] continue # leaf # remove hidden dirs (esp. .svn/.git) [dirs.remove(di) for di in dirs if di[0] == '.'] return resources class ManifestManager(object): """ Base class implementation for :class:`RosPack` and :class:`RosStack`. This class indexes resources on paths with where manifests denote the precense of the resource. NOTE: for performance reasons, instances cache information and will not reflect changes made on disk or to environment configuration. """ def __init__(self, manifest_name, ros_paths=None): """ ctor. subclasses are expected to use *manifest_name* to customize behavior of ManifestManager. :param manifest_name: MANIFEST_FILE or STACK_FILE :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. """ self._manifest_name = manifest_name if ros_paths is None: self._ros_paths = get_ros_paths() else: self._ros_paths = ros_paths self._manifests = {} self._depends_cache = {} self._rosdeps_cache = {} self._location_cache = None self._custom_cache = {} @classmethod def get_instance(cls, ros_paths=None): """ Reuse an existing instance for the specified ros_paths instead of creating a new one. Only works for subclasses, as the ManifestManager itself expects two args for the ctor. :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. """ if not hasattr(cls, '_instances'): # add class variable _instances to cls cls._instances = {} # generate instance_key from ros_paths variable if ros_paths is None: ros_paths = get_ros_paths() instance_key = str(tuple(ros_paths)) if instance_key not in cls._instances: # create and cache new instance cls._instances[instance_key] = cls(ros_paths) return cls._instances[instance_key] def get_ros_paths(self): return self._ros_paths[:] ros_paths = property(get_ros_paths, doc="Get ROS paths of this instance") def get_manifest(self, name): """ :raises: :exc:`InvalidManifest` """ if name in self._manifests: return self._manifests[name] else: return self._load_manifest(name) def _update_location_cache(self): global _cache_lock # ensure self._location_cache is not checked while it is being updated # (i.e. while it is not None, but also not completely populated) with _cache_lock: if self._location_cache is not None: return # initialize cache cache = self._location_cache = {} # nothing to search, #3680 if not self._ros_paths: return # crawl paths using our own logic, in reverse order to get # correct precedence for path in reversed(self._ros_paths): list_by_path(self._manifest_name, path, cache) def list(self): """ List resources. :returns: complete list of package names in ROS environment, ``[str]`` """ self._update_location_cache() return self._location_cache.keys() def get_path(self, name): """ :param name: package name, ``str`` :returns: filesystem path of package :raises: :exc:`ResourceNotFound` """ self._update_location_cache() if name not in self._location_cache: raise ResourceNotFound(name, ros_paths=self._ros_paths) else: return self._location_cache[name] def _load_manifest(self, name): """ :raises: :exc:`ResourceNotFound` """ retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) return retval def get_depends(self, name, implicit=True): """ Get dependencies of a resource. If implicit is ``True``, this includes implicit (recursive) dependencies. :param name: resource name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies, ``[str]`` :raises: :exc:`InvalidManifest` If resource or any of its dependencies have an invalid manifest. """ if not implicit: m = self.get_manifest(name) return [d.name for d in m.depends] else: if name in self._depends_cache: return self._depends_cache[name] # take the union of all dependencies names = [p.name for p in self.get_manifest(name).depends] # assign key before recursive call to prevent infinite case self._depends_cache[name] = s = set() for p in names: s.update(self.get_depends(p, implicit)) # add in our own deps s.update(names) # cache the return value as a list s = list(s) self._depends_cache[name] = s return s def get_depends_on(self, name, implicit=True): """ Get resources that depend on a resource. If implicit is ``True``, this includes implicit (recursive) dependency relationships. NOTE: this does *not* raise :exc:`rospkg.InvalidManifest` if there are invalid manifests found. :param name: resource name, ``str`` :param implicit: include implicit (recursive) dependencies, ``bool`` :returns: list of names of dependencies, ``[str]`` """ depends_on = [] if not implicit: # have to examine all dependencies for r in self.list(): if r == name: continue try: m = self.get_manifest(r) if any(d for d in m.depends if d.name == name): depends_on.append(r) except InvalidManifest: # robust to bad packages pass except ResourceNotFound: # robust to bad packages pass else: # Computing implicit dependencies requires examining the # dependencies of all packages. As we already implement # this logic in get_depends(), we simply reuse it here for # the reverse calculation. This enables us to use the # same dependency cache that get_depends() uses. The # efficiency is roughly the same due to the caching. for r in self.list(): if r == name: continue try: depends = self.get_depends(r, implicit=True) if name in depends: depends_on.append(r) except InvalidManifest: # robust to bad packages pass except ResourceNotFound: # robust to bad packages pass return depends_on def get_custom_cache(self, key, default=None): return self._custom_cache.get(key, default) def set_custom_cache(self, key, value): self._custom_cache[key] = value class RosPack(ManifestManager): """ Utility class for querying properties about ROS packages. This should be used when querying properties about multiple packages. NOTE 1: for performance reasons, RosPack caches information about packages. NOTE 2: RosPack is not thread-safe. Example:: from rospkg import RosPack rp = RosPack() packages = rp.list() path = rp.get_path('rospy') depends = rp.get_depends('roscpp') direct_depends = rp.get_depends('roscpp', implicit=False) """ def __init__(self, ros_paths=None): """ :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. """ super(RosPack, self).__init__(MANIFEST_FILE, ros_paths) self._rosdeps_cache = {} def get_rosdeps(self, package, implicit=True): """ Collect rosdeps of specified package into a dictionary. :param package: package name, ``str`` :param implicit: include implicit (recursive) rosdeps, ``bool`` :returns: list of rosdep names, ``[str]`` """ if implicit: return self._implicit_rosdeps(package) else: m = self.get_manifest(package) return [d.name for d in m.rosdeps] def _implicit_rosdeps(self, package): """ Compute recursive rosdeps of a single package and cache the result in self._rosdeps_cache. :param package: package name, ``str`` :returns: list of rosdeps, ``[str]`` """ if package in self._rosdeps_cache: return self._rosdeps_cache[package] # set the key before recursive call to prevent infinite case self._rosdeps_cache[package] = s = set() # take the union of all dependencies packages = self.get_depends(package, implicit=True) for p in packages: s.update(self.get_rosdeps(p, implicit=False)) # add in our own deps m = self.get_manifest(package) s.update([d.name for d in m.rosdeps]) # cache the return value as a list s = list(s) self._rosdeps_cache[package] = s return s def stack_of(self, package): """ :param package: package name, ``str`` :returns: name of stack that package is in, or None if package is not part of a stack, ``str`` :raises: :exc:`ResourceNotFound` If package cannot be located """ d = self.get_path(package) while d and os.path.dirname(d) != d: stack_file = os.path.join(d, STACK_FILE) if os.path.exists(stack_file): return os.path.basename(d) else: d = os.path.dirname(d) class RosStack(ManifestManager): """ Utility class for querying properties about ROS stacks. This should be used when querying properties about multiple stacks. NOTE 1: for performance reasons, RosStack caches information about stacks. NOTE 2: RosStack is not thread-safe. """ def __init__(self, ros_paths=None): """ :param ros_paths: Ordered list of paths to search for resources. If `None` (default), use environment ROS path. """ super(RosStack, self).__init__(STACK_FILE, ros_paths) def packages_of(self, stack): """ :returns: name of packages that are part of stack, ``[str]`` :raises: :exc:`ResourceNotFound` If stack cannot be located """ return list_by_path(MANIFEST_FILE, self.get_path(stack), {}) def get_stack_version(self, stack): """ :param env: override environment variables, ``{str: str}`` :returns: version number of stack, or None if stack is unversioned, ``str`` """ return get_stack_version_by_dir(self.get_path(stack)) # #2022 def expand_to_packages(names, rospack, rosstack): """ Expand names into a list of packages. Names can either be of packages or stacks. :param names: names of stacks or packages, ``[str]`` :returns: ([packages], [not_found]). Returns two lists. The first is of packages names. The second is a list of names for which no matching stack or package was found. Lists may have duplicates. ``([str], [str])`` """ if type(names) not in (tuple, list): raise ValueError("names must be a list of strings") # do full package list first. This forces an entire tree # crawl. This is less efficient for a small list of names, but # much more efficient for many names. package_list = rospack.list() valid = [] invalid = [] for n in names: if n not in package_list: try: valid.extend(rosstack.packages_of(n)) except ResourceNotFound: invalid.append(n) else: valid.append(n) return valid, invalid def get_stack_version_by_dir(stack_dir): """ Get stack version where stack_dir points to root directory of stack. :param env: override environment variables, ``{str: str}`` :returns: version number of stack, or None if stack is unversioned, ``str`` :raises: :exc:`IOError` :raises: :exc:`InvalidStack` """ catkin_stack_filename = os.path.join(stack_dir, 'stack.xml') if os.path.isfile(catkin_stack_filename): try: stack = parse_stack_file(catkin_stack_filename) return stack.version except InvalidStack: pass cmake_filename = os.path.join(stack_dir, 'CMakeLists.txt') if os.path.isfile(cmake_filename): with open(cmake_filename) as f: try: return _get_cmake_version(f.read()) except ValueError: return None else: return None def _get_cmake_version(text): """ :raises :exc:`ValueError` If version number in CMakeLists.txt cannot be parsed correctly """ import re for l in text.split('\n'): if l.strip().startswith('rosbuild_make_distribution'): x_re = re.compile(r'[()]') lsplit = x_re.split(l.strip()) if len(lsplit) < 2: raise ValueError("couldn't find version number in CMakeLists.txt:\n\n%s" % l) version = lsplit[1] if version: return version else: raise ValueError("cannot parse version number in CMakeLists.txt:\n\n%s" % l) def get_package_name(path): """ Get the name of the ROS package that contains *path*. This is determined by finding the nearest parent ``manifest.xml`` file. This routine may not traverse package setups that rely on internal symlinks within the package itself. :param path: filesystem path :return: Package name or ``None`` if package cannot be found, ``str`` """ # NOTE: the realpath is going to create issues with symlinks, most # likely. parent = os.path.dirname(os.path.realpath(path)) # walk up until we hit ros root or ros/pkg while not os.path.exists(os.path.join(path, MANIFEST_FILE)) and not os.path.exists(os.path.join(path, PACKAGE_FILE)) and parent != path: path = parent parent = os.path.dirname(path) # check termination condition if os.path.exists(os.path.join(path, MANIFEST_FILE)): return os.path.basename(os.path.abspath(path)) elif os.path.exists(os.path.join(path, PACKAGE_FILE)): root = ElementTree(None, os.path.join(path, PACKAGE_FILE)) return root.findtext('name') else: return None rospkg-1.2.3/src/rospkg/rosversion.py000066400000000000000000000111441360343013700177020ustar00rootroot00000000000000# Copyright (c) 2008, 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 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function import argparse import os import sys import traceback from .common import PACKAGE_FILE from .rospack import ManifestManager, RosPack, RosStack, ResourceNotFound # for < fuerte, retrieve from roscore file def get_distro_name_from_roscore(): ''' This function only works for ROS Electric and older. For any newer ROS distro the information is provided in the ROS_DISTRO environment variable. ''' rospack = RosPack() # there's some chance that the location of this file changes in the future try: roslaunch_dir = rospack.get_path('roslaunch') roscore_file = os.path.join(roslaunch_dir, 'roscore.xml') if not os.path.exists(roscore_file): return None except: return None import xml.dom.minidom try: dom = xml.dom.minidom.parse(roscore_file) tags = dom.getElementsByTagName("param") for t in tags: if t.hasAttribute('name') and t.getAttribute('name') == 'rosdistro': return t.getAttribute('value') except: traceback.print_exc() def print_without_newline(argtext): """Print with no new line.""" print(argtext, end='') def main(): parser = argparse.ArgumentParser( description='rosversion -d: Output the version of the given package\n' 'rosversion package: Output the ROS distribution name', formatter_class=argparse.RawTextHelpFormatter) parser.add_argument( '-s', '--skip-newline', action='store_true', help='Skip trailing newline') group = parser.add_mutually_exclusive_group(required=True) group.add_argument( 'package', nargs='?', help="The ROS package name (e.g. 'roscpp')") group.add_argument( '-d', '--distro', action='store_true', help='Output the ROS distribution name') args = parser.parse_args() printer = print_without_newline if args.skip_newline else print if args.distro: if 'ROS_DISTRO' in os.environ: distro_name = os.environ['ROS_DISTRO'] else: distro_name = get_distro_name_from_roscore() if not distro_name: distro_name = '' printer(distro_name) sys.exit(0) rosstack = RosStack() try: version = rosstack.get_stack_version(args.package) except ResourceNotFound as e: try: # hack to make it work with wet packages mm = ManifestManager(PACKAGE_FILE) path = mm.get_path(args.package) package_manifest = os.path.join(path, 'package.xml') if os.path.exists(package_manifest): from xml.etree.ElementTree import ElementTree try: root = ElementTree(None, package_manifest) version = root.findtext('version') except Exception: pass except ResourceNotFound as e: print('Cannot locate [%s]' % args.package) sys.exit(1) if version is None: version = '' printer(version) rospkg-1.2.3/src/rospkg/stack.py000066400000000000000000000212511360343013700165760ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2012, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """ Library for processing stack.xml created post-catkin """ import collections import os import xml.dom.minidom as dom # as defined on http://ros.org/doc/fuerte/api/catkin/html/stack_xml.html REQUIRED = ['name', 'version', 'description', 'author', 'maintainer', 'license', 'copyright'] ALLOWXHTML = ['description'] OPTIONAL = ['description_brief', 'version_abi', 'url', 'review_notes', 'review_status', 'build_depends', 'depends', 'build_type', 'message_generator', 'review'] LISTED_ATTRIBUTES = {'Author': ['name', 'email'], 'Maintainer': ['name', 'email'], 'Depend': ['name', 'version']} VALID = REQUIRED + OPTIONAL class InvalidStack(Exception): pass def _get_nodes_by_name(n, name): return [t for t in n.childNodes if t.nodeType == t.ELEMENT_NODE and t.tagName == name] def _check_optional(name, allowXHTML=False): """ Validator for optional elements. :raise: :exc:`InvalidStack` If validation fails """ def check(n, filename): n = _get_nodes_by_name(n, name) if len(n) > 1: raise InvalidStack("Invalid stack.xml file [%s]: must have at most one '%s' element" % (filename, name)) if n: if allowXHTML: return ''.join([x.toxml() for x in n[0].childNodes]) return _get_text(n[0].childNodes).strip() return check def _check_required(name, allowXHTML=False): """ Validator for required elements. :raise: :exc:`InvalidStack` If validation fails """ def check(n, filename): n = _get_nodes_by_name(n, name) if len(n) != 1: raise InvalidStack("Invalid stack.xml file [%s]: must have exactly one '%s' element" % (filename, name)) if allowXHTML: return ''.join([x.toxml() for x in n[0].childNodes]) return _get_text(n[0].childNodes).strip() return check def _check_depends(n, key, filename): """ Validator for stack.xml depends. :raise: :exc:`InvalidStack` If validation fails """ nodes = _get_nodes_by_name(n, key) return set([_get_text(n.childNodes).strip() for n in nodes]) def _build_listed_attributes(n, key, object_type): """ Validator for stack.xml depends. :raise: :exc:`InvalidStack` If validation fails """ members = set() for node in _get_nodes_by_name(n, key): # The first field is always supposed to be the value attribute_dict = {} for field in object_type._fields: try: attribute_dict[field] = node.getAttribute(field) except: pass attribute_dict[object_type._fields[0]] = _get_text(node.childNodes).strip() members.add(object_type(**attribute_dict)) return members def _attrs(node): attrs = {} for k in node.attributes.keys(): attrs[k] = node.attributes.get(k).value return attrs def _check(name): """ Generic validator for text-based tags. """ if name in REQUIRED: return _check_required(name, name in ALLOWXHTML) elif name in OPTIONAL: return _check_optional(name, name in ALLOWXHTML) class Stack(object): """ Object representation of a ROS ``stack.xml`` file """ __slots__ = [ 'name', 'version', 'description', 'authors', 'maintainers', 'license', 'copyright', 'description_brief', 'version_abi', 'url', 'review_notes', 'review_status', 'build_depends', 'depends', 'build_type', 'build_type_file', 'message_generator', 'unknown_tags'] def __init__(self, filename=None): """ :param filename: location of stack.xml. Necessary if converting ``${prefix}`` in ```` values, ``str``. """ self.description = self.description_brief = self.name = \ self.version = self.version_abi = \ self.license = self.copyright = '' self.url = '' self.authors = [] self.maintainers = [] self.depends = [] self.build_depends = [] self.review_notes = self.review_status = '' self.build_type = 'cmake' self.build_type_file = '' self.message_generator = '' # store unrecognized tags during parsing self.unknown_tags = [] def _get_text(nodes): """ DOM utility routine for getting contents of text nodes """ return "".join([n.data for n in nodes if n.nodeType == n.TEXT_NODE]) def parse_stack_file(stack_path): """ Parse stack file. :param stack_path: The path of the stack.xml file :returns: return :class:`Stack` instance, populated with parsed fields :raises: :exc:`InvalidStack` :raises: :exc:`IOError` """ if not os.path.isfile(stack_path): raise IOError("Invalid/non-existent stack.xml file: %s" % (stack_path)) with open(stack_path, 'r') as f: return parse_stack(f.read(), stack_path) def parse_stack(string, filename): """ Parse stack.xml string contents. :param string: stack.xml contents, ``str`` :param filename: full file path for debugging, ``str`` :returns: return parsed :class:`Stack` """ # Create some classes to hold some members new_tuples = {} for key, members in LISTED_ATTRIBUTES.items(): new_tuples[key] = collections.namedtuple(key, members) try: d = dom.parseString(string) except Exception as e: raise InvalidStack("[%s] invalid XML: %s" % (filename, e)) s = Stack() p = _get_nodes_by_name(d, 'stack') if len(p) != 1: raise InvalidStack("stack.xml [%s] must have a single 'stack' element" % (filename)) p = p[0] for attr in [ 'name', 'version', 'description', 'license', 'copyright', 'url', 'build_type', 'message_generator' ]: val = _check(attr)(p, filename) if val: setattr(s, attr, val) try: tag = _get_nodes_by_name(p, 'description')[0] s.description_brief = tag.getAttribute('brief') or '' except: # means that 'description' tag is missing pass s.authors = _build_listed_attributes(p, 'author', new_tuples['Author']) s.maintainers = _build_listed_attributes(p, 'maintainer', new_tuples['Maintainer']) s.depends = _build_listed_attributes(p, 'depends', new_tuples['Depend']) s.build_depends = _build_listed_attributes(p, 'build_depends', new_tuples['Depend']) try: tag = _get_nodes_by_name(p, 'review')[0] s.review_status = tag.getAttribute('status') or '' except: pass # stack.xml is missing optional 'review status' tag try: tag = _get_nodes_by_name(p, 'review')[0] s.review_notes = tag.getAttribute('notes') or '' except: pass # stack.xml is missing optional 'review notes' tag try: tag = _get_nodes_by_name(p, 'build_type')[0] s.build_type_file = tag.getAttribute('file') or '' except: pass # stack.xml is missing optional 'build_type file' tag # store unrecognized tags s.unknown_tags = [e.nodeName for e in p.childNodes if e.nodeType == e.ELEMENT_NODE and e.tagName not in VALID] if s.unknown_tags: raise InvalidStack("stack.xml [%s] must be cleaned up from %s" % (filename, str(s.unknown_tags))) return s rospkg-1.2.3/stdeb.cfg000066400000000000000000000021541360343013700146060ustar00rootroot00000000000000[rospkg] Debian-Version: 100 ; rospkg-modules same version as in: ; - setup.py ; - src/rospkg/__init__.py Depends: python-argparse, python-rospkg-modules (>= 1.2.3) ; rospkg-modules same version as in: ; - setup.py ; - src/rospkg/__init__.py Depends3: python3-rospkg-modules (>= 1.2.3) Conflicts: python3-rospkg Conflicts3: python-rospkg Suite: xenial yakkety zesty artful bionic cosmic disco eoan jessie stretch buster Suite3: xenial yakkety zesty artful bionic cosmic disco eoan focal jessie stretch buster X-Python3-Version: >= 3.4 Setup-Env-Vars: SKIP_PYTHON_MODULES=1 [rospkg_modules] Depends: python-catkin-pkg-modules, python-yaml, lsb-release Depends3: python3-catkin-pkg-modules, python3-distro | python3 (<< 3.8), python3-yaml, lsb-release Conflicts: python-rospkg (<< 1.1.0) Conflicts3: python3-rospkg (<< 1.1.0) Replaces: python-rospkg (<< 1.1.0) Replaces3: python3-rospkg (<< 1.1.0) Suite: xenial yakkety zesty artful bionic cosmic disco eoan jessie stretch buster Suite3: xenial yakkety zesty artful bionic cosmic disco eoan focal jessie stretch buster X-Python3-Version: >= 3.4 Setup-Env-Vars: SKIP_PYTHON_SCRIPTS=1 rospkg-1.2.3/test/000077500000000000000000000000001360343013700140015ustar00rootroot00000000000000rospkg-1.2.3/test/__init__.py000066400000000000000000000000001360343013700161000ustar00rootroot00000000000000rospkg-1.2.3/test/catkin_package_tests/000077500000000000000000000000001360343013700201475ustar00rootroot00000000000000rospkg-1.2.3/test/catkin_package_tests/p1/000077500000000000000000000000001360343013700204675ustar00rootroot00000000000000rospkg-1.2.3/test/catkin_package_tests/p1/foo/000077500000000000000000000000001360343013700212525ustar00rootroot00000000000000rospkg-1.2.3/test/catkin_package_tests/p1/foo/package.xml000066400000000000000000000014321360343013700233670ustar00rootroot00000000000000 foo 1.2.3 I AM THE VERY MODEL OF A MODERN MAJOR GENERAL Someone BSD LGPL http://wiki.ros.org/my_package http://www.github.com/my_org/my_package/issues John Doe Jane Doe catkin genmsg libboost-thread-dev libboost-thread gtest my_old_package rospkg-1.2.3/test/fakeetcros/000077500000000000000000000000001360343013700161275ustar00rootroot00000000000000rospkg-1.2.3/test/fakeetcros/distro000066400000000000000000000000131360343013700173500ustar00rootroot00000000000000rosawesome rospkg-1.2.3/test/manifest/000077500000000000000000000000001360343013700156075ustar00rootroot00000000000000rospkg-1.2.3/test/manifest/bad1.xml000066400000000000000000000000101360343013700171270ustar00rootroot00000000000000not xml rospkg-1.2.3/test/manifest/bad2.xml000066400000000000000000000012161360343013700171410ustar00rootroot00000000000000 Line 1 Line 2 The authors go here Public Domain with other stuff http://pr.willowgarage.com/package/ http://www.willowgarage.com/files/willowgarage/robot10.jpg rospkg-1.2.3/test/manifest/bad3.xml000066400000000000000000000004121360343013700171370ustar00rootroot00000000000000 Line 1 Second description The authors go here Public Domain with other stuff rospkg-1.2.3/test/manifest/catkin/000077500000000000000000000000001360343013700170605ustar00rootroot00000000000000rospkg-1.2.3/test/manifest/catkin/manifest.xml000066400000000000000000000012251360343013700214100ustar00rootroot00000000000000 Line 1 Line 2 The authors go here Public Domain with other stuff http://pr.willowgarage.com/package/ http://www.willowgarage.com/files/willowgarage/robot10.jpg rospkg-1.2.3/test/manifest/example1/000077500000000000000000000000001360343013700173235ustar00rootroot00000000000000rospkg-1.2.3/test/manifest/example1/manifest.xml000066400000000000000000000012341360343013700216530ustar00rootroot00000000000000 Line 1 Line 2 The authors go here. utf-8 test: ÄÖÜ Public Domain with other stuff http://pr.willowgarage.com/package/ http://www.willowgarage.com/files/willowgarage/robot10.jpg rospkg-1.2.3/test/manifest/stack_example1/000077500000000000000000000000001360343013700205105ustar00rootroot00000000000000rospkg-1.2.3/test/manifest/stack_example1/stack.xml000066400000000000000000000005351360343013700223420ustar00rootroot00000000000000 Line 1 Line 2 The authors go here Public Domain with other stuff http://ros.org/stack/ http://www.willowgarage.com/files/willowgarage/robot10.jpg rospkg-1.2.3/test/manifest/stack_version/000077500000000000000000000000001360343013700204615ustar00rootroot00000000000000rospkg-1.2.3/test/manifest/stack_version/stack.xml000066400000000000000000000005701360343013700223120ustar00rootroot00000000000000 Line 1 Line 2 The authors go here Public Domain with other stuff http://ros.org/stack/ 1.2.3 http://www.willowgarage.com/files/willowgarage/robot10.jpg rospkg-1.2.3/test/os_detect/000077500000000000000000000000001360343013700157525ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/arch/000077500000000000000000000000001360343013700166675ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/arch/arch-release000066400000000000000000000000001360343013700211330ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/fedora/000077500000000000000000000000001360343013700172125ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/fedora/issue000066400000000000000000000000371360343013700202650ustar00rootroot00000000000000Fedora Core release 1 (Yarrow) rospkg-1.2.3/test/os_detect/fedora/redhat-release000066400000000000000000000000411360343013700220150ustar00rootroot00000000000000Fedora Core release 5 (Bordeaux) rospkg-1.2.3/test/os_detect/gentoo/000077500000000000000000000000001360343013700172455ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/gentoo/gentoo-release000066400000000000000000000000421360343013700220750ustar00rootroot00000000000000Gentoo Base System release 2.0.1 rospkg-1.2.3/test/os_detect/manjaro/000077500000000000000000000000001360343013700174015ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/manjaro/manjaro-release000066400000000000000000000000161360343013700223660ustar00rootroot00000000000000Manjaro Linux rospkg-1.2.3/test/os_detect/opensuse/000077500000000000000000000000001360343013700176135ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/opensuse/SuSE-brand000066400000000000000000000000301360343013700214320ustar00rootroot00000000000000openSUSE VERSION = 11.2 rospkg-1.2.3/test/os_detect/opensuse/SuSE-release000066400000000000000000000000461360343013700217730ustar00rootroot00000000000000openSUSE 11.2 (x86_64) VERSION = 11.2 rospkg-1.2.3/test/os_detect/opensuse13/000077500000000000000000000000001360343013700177575ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/opensuse13/SUSE-brand000066400000000000000000000000301360343013700215360ustar00rootroot00000000000000openSUSE VERSION = 13.1 rospkg-1.2.3/test/os_detect/opensuse13/SuSE-release000066400000000000000000000000701360343013700221340ustar00rootroot00000000000000openSUSE 13.1 (x86_64) VERSION = 13.1 CODENAME = Bottle rospkg-1.2.3/test/os_detect/osx/000077500000000000000000000000001360343013700165635ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/osx/sw_vers000077500000000000000000000000301360343013700201720ustar00rootroot00000000000000#!/bin/sh echo "10.6.5" rospkg-1.2.3/test/os_detect/osx/sw_vers_bad000077500000000000000000000000241360343013700210030ustar00rootroot00000000000000#!/bin/sh echo "10" rospkg-1.2.3/test/os_detect/rhel/000077500000000000000000000000001360343013700167045ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/rhel/issue000066400000000000000000000000571360343013700177610ustar00rootroot00000000000000Red Hat Enterprise Linux AS release 3 (Taroon) rospkg-1.2.3/test/os_detect/rhel/redhat-release000066400000000000000000000000701360343013700215110ustar00rootroot00000000000000Red Hat Enterprise Linux ES release 3 (Taroon Update 4) rospkg-1.2.3/test/os_detect/rhel/redhat-release-nahant000066400000000000000000000000701360343013700227600ustar00rootroot00000000000000Red Hat Enterprise Linux AS release 4 (Nahant Update 4) rospkg-1.2.3/test/os_detect/rhel/redhat-release-tikanga000066400000000000000000000000641360343013700231300ustar00rootroot00000000000000Red Hat Enterprise Linux Server release 5 (Tikanga) rospkg-1.2.3/test/os_detect/slackware/000077500000000000000000000000001360343013700177265ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/slackware/slackware-version000066400000000000000000000000171360343013700233060ustar00rootroot00000000000000Slackware 14.2 rospkg-1.2.3/test/os_detect/ubuntu/000077500000000000000000000000001360343013700172745ustar00rootroot00000000000000rospkg-1.2.3/test/os_detect/ubuntu/lsb_release000077500000000000000000000003111360343013700214750ustar00rootroot00000000000000#!/usr/bin/env python import sys if '-sr' in sys.argv: sys.stdout.write("10.04\n") elif '-sc' in sys.argv: sys.stdout.write("lucid\n") elif '-si' in sys.argv: sys.stdout.write("Ubuntu\n") rospkg-1.2.3/test/package_tests/000077500000000000000000000000001360343013700166165ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p1/000077500000000000000000000000001360343013700171365ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p1/bar/000077500000000000000000000000001360343013700177025ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p1/bar/manifest.xml000066400000000000000000000004601360343013700222320ustar00rootroot00000000000000 bar Ken Conley BSD http://ros.org/wiki/bar rospkg-1.2.3/test/package_tests/p1/foo/000077500000000000000000000000001360343013700177215ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p1/foo/manifest.xml000066400000000000000000000004621360343013700222530ustar00rootroot00000000000000 foo Ken Conley BSD http://ros.org/wiki/foo rospkg-1.2.3/test/package_tests/p1/invalid/000077500000000000000000000000001360343013700205645ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p1/invalid/manifest.xml000066400000000000000000000000121360343013700231050ustar00rootroot00000000000000 rospkg-1.2.3/test/package_tests/p2/000077500000000000000000000000001360343013700171375ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p2/baz/000077500000000000000000000000001360343013700177135ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p2/baz/manifest.xml000066400000000000000000000004541360343013700222460ustar00rootroot00000000000000 foo Ken Conley BSD http://ros.org/wiki/foo rospkg-1.2.3/test/package_tests/p2/foo/000077500000000000000000000000001360343013700177225ustar00rootroot00000000000000rospkg-1.2.3/test/package_tests/p2/foo/manifest.xml000066400000000000000000000003251360343013700222520ustar00rootroot00000000000000 foo Ken Conley BSD http://ros.org/wiki/foo rospkg-1.2.3/test/package_tests/rospack_cache000066400000000000000000000120101360343013700213200ustar00rootroot00000000000000#ROS_ROOT=/home/kwc/ros #ROS_PACKAGE_PATH=/home/kwc/workspace:/u/kwc/workspace # added empty lines to this file to stress reader /home/kwc/ros/test/test_rosmake /home/kwc/ros/test/test_roscreate /home/kwc/ros/test/test_rospack /home/kwc/ros/test/test_roslib /home/kwc/ros/test/test_rosdep /home/kwc/ros/tools/rosunit /home/kwc/ros/tools/rosmake /home/kwc/ros/tools/rosclean /home/kwc/ros/tools/rosemacs /home/kwc/ros/tools/roscreate /home/kwc/ros/tools/rospack /home/kwc/ros/tools/rosbash /home/kwc/ros/tools/rosdep /home/kwc/ros/tools/rosboost_cfg /home/kwc/ros/core/mk /home/kwc/ros/core/roslib /home/kwc/ros/core/rosbuild /home/kwc/ros/core/roslang /home/kwc/workspace/rosci /home/kwc/workspace/rosinstall /home/kwc/workspace/test_msgs /home/kwc/workspace/rospkg /home/kwc/workspace/genpy /home/kwc/workspace/genmsg /home/kwc/workspace/vcstools /home/kwc/workspace/common_rosdeps /home/kwc/workspace/gencpp /home/kwc/workspace/rep /home/kwc/workspace/release/release_resources /home/kwc/workspace/release/distros /home/kwc/workspace/rx/rxtools /home/kwc/workspace/rx/test_rxplot /home/kwc/workspace/rx/test_rxdeps /home/kwc/workspace/rx/wxswig /home/kwc/workspace/rx/rxbag /home/kwc/workspace/rx/xdot /home/kwc/workspace/rx/rxgraph /home/kwc/workspace/rx/rxdeps /home/kwc/workspace/rx/wxPython_swig_interface /home/kwc/workspace/common_msgs/actionlib_msgs /home/kwc/workspace/common_msgs/geometry_msgs /home/kwc/workspace/common_msgs/visualization_msgs /home/kwc/workspace/common_msgs/sensor_msgs /home/kwc/workspace/common_msgs/test_common_msgs /home/kwc/workspace/common_msgs/trajectory_msgs /home/kwc/workspace/common_msgs/stereo_msgs /home/kwc/workspace/common_msgs/nav_msgs /home/kwc/workspace/common_msgs/diagnostic_msgs /home/kwc/workspace/documentation/rosdoc /home/kwc/workspace/rosh_core/rosh /home/kwc/workspace/rosh_core/roshlaunch /home/kwc/workspace/ros_release/job_generation /home/kwc/workspace/ros_release/isogenerator /home/kwc/workspace/ros_release/hudson /home/kwc/workspace/ros_release/rosdistro /home/kwc/workspace/ros_release/rosdeb /home/kwc/workspace/ros_release/release /home/kwc/workspace/rosjava_core/rosjava_tutorial_pubsub /home/kwc/workspace/rosjava_core/rosjava /home/kwc/workspace/rosjava_core/apache_commons_util /home/kwc/workspace/rosjava_core/apache_xmlrpc /home/kwc/workspace/rosjava_core/actionlib_java /home/kwc/workspace/rosjava_core/test_rosjava /home/kwc/workspace/rosjava_core/rosjava_bootstrap /home/kwc/workspace/rosorg/rosbrowse /home/kwc/workspace/rosorg/roswiki /home/kwc/workspace/rosorg/rosdoc_rosorg /home/kwc/workspace/roshpit/rosh_experimental /home/kwc/workspace/roshpit/rosh_base /home/kwc/workspace/ros_comm/roscore_migration_rules /home/kwc/workspace/ros_comm/test/test_rosnode /home/kwc/workspace/ros_comm/test/perf_roscpp /home/kwc/workspace/ros_comm/test/test_ros /home/kwc/workspace/ros_comm/test/test_roslaunch /home/kwc/workspace/ros_comm/test/test_rosmsg /home/kwc/workspace/ros_comm/test/test_rostopic /home/kwc/workspace/ros_comm/test/test_rostime /home/kwc/workspace/ros_comm/test/test_rosgraph /home/kwc/workspace/ros_comm/test/test_rosservice /home/kwc/workspace/ros_comm/test/test_rosmaster /home/kwc/workspace/ros_comm/test/test_rosbag /home/kwc/workspace/ros_comm/test/test_crosspackage /home/kwc/workspace/ros_comm/test/test_roswtf /home/kwc/workspace/ros_comm/test/test_roslib_comm /home/kwc/workspace/ros_comm/test/test_roscpp_serialization_perf /home/kwc/workspace/ros_comm/test/test_topic_tools /home/kwc/workspace/ros_comm/test/test_roscpp /home/kwc/workspace/ros_comm/test/test_rospy /home/kwc/workspace/ros_comm/test/test_rosparam /home/kwc/workspace/ros_comm/test/test_roscpp_serialization /home/kwc/workspace/ros_comm/test/test_rostest /home/kwc/workspace/ros_comm/utilities/rostime /home/kwc/workspace/ros_comm/utilities/xmlrpcpp /home/kwc/workspace/ros_comm/utilities/message_filters /home/kwc/workspace/ros_comm/utilities/cpp_common /home/kwc/workspace/ros_comm/utilities/roswtf /home/kwc/workspace/ros_comm/clients/roslisp /home/kwc/workspace/ros_comm/clients/rospy /home/kwc/workspace/ros_comm/clients/cpp/roscpp /home/kwc/workspace/ros_comm/clients/cpp/roscpp_serialization /home/kwc/workspace/ros_comm/clients/cpp/roscpp_traits /home/kwc/workspace/ros_comm/tools/rosconsole /home/kwc/workspace/ros_comm/tools/rosparam /home/kwc/workspace/ros_comm/tools/topic_tools /home/kwc/workspace/ros_comm/tools/roslaunch /home/kwc/workspace/ros_comm/tools/rosmsg /home/kwc/workspace/ros_comm/tools/rostopic /home/kwc/workspace/ros_comm/tools/rosgraph /home/kwc/workspace/ros_comm/tools/rosout /home/kwc/workspace/ros_comm/tools/rosnode /home/kwc/workspace/ros_comm/tools/rosmaster /home/kwc/workspace/ros_comm/tools/rosbag /home/kwc/workspace/ros_comm/tools/rostest /home/kwc/workspace/ros_comm/tools/rosbagmigration /home/kwc/workspace/ros_comm/tools/rosservice /home/kwc/workspace/ros_comm/messages/std_srvs /home/kwc/workspace/ros_comm/messages/std_msgs /home/kwc/workspace/ros_comm/messages/rosgraph_msgs /home/kwc/workspace/executive_smach/smach /home/kwc/workspace/executive_smach/smach_ros /home/kwc/workspace/executive_smach/smach_msgs rospkg-1.2.3/test/rosdistro/000077500000000000000000000000001360343013700160315ustar00rootroot00000000000000rospkg-1.2.3/test/rosdistro/bad1.rosdistro000066400000000000000000000000041360343013700206040ustar00rootroot00000000000000bad rospkg-1.2.3/test/rosdistro/bad2.rosdistro000066400000000000000000000006331360343013700206150ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME', distro-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: diamondback stacks: stack1: {_rules: rules1, version: 0.3.0} variants: string version: 1 rospkg-1.2.3/test/rosdistro/bad3.rosdistro000066400000000000000000000005761360343013700206240ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME', distro-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: diamondback variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/rosdistro/bad4.rosdistro000066400000000000000000000006661360343013700206250ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME', distro-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: diamondback stacks: stack1: {_rules: rules1, version: 0.3.0} variants: - base: stacks: [nonexistent] version: 1 rospkg-1.2.3/test/rosdistro/bad5.rosdistro000066400000000000000000000003421360343013700206150ustar00rootroot00000000000000_rules: rules1: svn: bad-key: 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME' release: diamondback stacks: stack1: {_rules: rules1, version: 0.3.0} variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/rosdistro/bad6.rosdistro000066400000000000000000000001301360343013700206110ustar00rootroot00000000000000;ljkasdf l cv'l asdfp asdfl'j: ; asdfij q;lerj: paevm zpcv;akldjf[oq er l;kfna a;dlfjarospkg-1.2.3/test/rosdistro/bad7.rosdistro000066400000000000000000000005461360343013700206250ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {version: 0.3.0} variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/rosdistro/bad8.rosdistro000066400000000000000000000005731360343013700206260ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {_rules: nonexistent, version: 0.3.0} variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/rosdistro/bad9.rosdistro000066400000000000000000000005611360343013700206240ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {_rules: 1, version: 0.3.0} variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/rosdistro/diamondback.rosdistro000066400000000000000000000513551360343013700222500ustar00rootroot00000000000000_rules: alufr-ros-pkg: svn: {dev: 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME', distro-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} arm_navigation_0_3: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/arm_navigation_0_3', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} bosch-ros-pkg: repo: bosch-ros-pkg svn: {dev: 'https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/$STACK_NAME', distro-tag: 'https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} cart_pushing: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/cart_branch', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} cob: git: {anon-uri: 'https://github.com/ipa320/$STACK_NAME.git', dev-branch: release, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'git@github.com:ipa320/$STACK_NAME.git'} repo: care-o-bot kul-ros-pkg: repo: kul-ros-pkg svn: {anon-dev: 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk', anon-distro-tag: 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', anon-release-tag: 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION', dev: 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk', distro-tag: 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} linux_networking: repo: ros-pkg svn: {dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/trunk', distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} manipulation-0.2: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-0.2.0-branch', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} manipulation-0.3: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-0.3.0-branch', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} motion_planners_unstable_prerelease: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/into_unstable', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} orocos_toolchain_ros: git: {anon-uri: 'http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git', dev-branch: unstable_next, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'git@git.mech.kuleuven.be:robotics/orocos_toolchain_ros.git'} repo: kul-ros-pkg ros-1.2: repo: ros svn: {dev: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/branches/$STACK_NAME-1.2', distro-tag: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros-pkg-1.2: repo: ros-pkg svn: {dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.2', distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros-pkg-1.4: repo: ros-pkg svn: {dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.4', distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros-pkg-trunk: repo: ros-pkg svn: {dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/trunk', distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros-pkg-unstable: repo: ros-pkg svn: {dev: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/branches/unstable-branch', distro-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros-trunk: repo: ros svn: {dev: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/trunk', distro-tag: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ros_lib_fix: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/ros_lib_fix', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} ua-ros-pkg: repo: ua-ros-pkg svn: {dev: 'https://ua-ros-pkg.googlecode.com/svn/stacks/$STACK_NAME/trunk', distro-tag: 'https://ua-ros-pkg.googlecode.com/svn/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://ua-ros-pkg.googlecode.com/svn/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} utexas-art-ros-pkg: repo: utexax-ros-pkg svn: {dev: 'https://utexas-art-ros-pkg.googlecode.com/svn/trunk/stacks/$STACK_NAME', distro-tag: 'https://utexas-art-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://utexas-art-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} wg-ros-pkg-1.2: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.2', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} wg-ros-pkg-1.3: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/$STACK_NAME-1.3', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} wg-ros-pkg-trunk: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/trunk', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} release: diamondback stacks: _rules: ros-pkg-trunk arm_navigation: {_rules: wg-ros-pkg-trunk, version: 0.3.0} art_vehicle: {_rules: utexas-art-ros-pkg, version: 0.3.2} articulation: {_rules: alufr-ros-pkg, version: 0.1.1} bosch_drivers: {_rules: bosch-ros-pkg, version: 0.1.1} bosch_skin: {_rules: bosch-ros-pkg, version: null} camera_drivers: {version: 1.3.2} cart_pushing: {_rules: wg-ros-pkg-trunk, version: 0.1.1} client_rosjava: _rules: git: {anon-uri: 'git://code.in.tum.de/git/client-rosjava.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'indefero@code.in.tum.de:client-rosjava'} repo: ros-pkg version: 0.1.2 cob_apps: {_rules: cob, version: 0.1.0} cob_common: {_rules: cob, version: 0.1.0} cob_driver: {_rules: cob, version: null} cob_extern: {_rules: cob, version: 0.1.0} cob_simulation: {_rules: cob, version: null} collision_environment: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} common: {version: 1.3.3} common_msgs: {version: 1.3.5} common_tutorials: {_rules: ros-pkg-trunk, version: 0.1.2} continuous_ops: _rules: hg: {dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://continuous-ops.hg-ros-pkg.googlecode.com/hg/'} repo: wg-ros-pkg version: 0.1.0 control: _rules: hg: {anon-uri: 'https://bitbucket.org/sglaser/control', dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'ssh://hg@bitbucket.org/sglaser/control'} repo: ros-pkg version: null version: 0.1.0 cram_pl: _rules: git: {anon-uri: 'git://code.in.tum.de/git/cram-pl', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'indefero@code.in.tum.de:cram-pl'} repo: tum-ros-pkg version: 0.1.1 diagnostics: {version: 1.2.5} documentation: {_rules: ros-trunk, version: 1.3.0} driver_common: {version: 1.2.3} erratic_robot: {_rules: ua-ros-pkg, version: 0.1.0} ethzasl_aseba: _rules: git: {anon-uri: 'https://github.com/ethz-asl/ros-aseba.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'git@github.com:ethz-asl/ros-aseba.git'} version: 0.8.0 ethzasl_message_transport: _rules: git: {anon-uri: 'https://github.com/ethz-asl/ros-message-transport.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'git@github.com:ethz-asl/ros-message-transport.git'} version: 0.7.0 executive_smach: {version: 1.0.0} exploration: {_rules: bosch-ros-pkg, version: 0.2.0} freiburg_tools: {_rules: alufr-ros-pkg, version: 0.1.2} geometry: _rules: hg: {dev-branch: tf_rework, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://ros-geometry.googlecode.com/hg/'} repo: ros-pkg version: 1.3.1 geometry_experimental: _rules: hg: {dev-branch: non_optimized, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://ros-geometry-experimental.googlecode.com/hg/'} repo: ros-pkg version: 0.1.0 geometry_tutorials: {_rules: ros-pkg-trunk, version: 0.1.1} graph_mapping: {_rules: ros-pkg-unstable, version: null} ias_common: _rules: git: {anon-uri: 'git://code.in.tum.de/git/ias-common.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'indefero@code.in.tum.de:ias-common.git'} repo: tum-ros-pkg version: 0.1.0 image_common: {version: 1.3.1} image_pipeline: {version: 1.3.0} image_transport_plugins: {version: 1.3.1} imu_drivers: {version: 1.2.1} joystick_drivers: {version: 1.2.2} joystick_drivers_tutorials: {version: 1.2.2} kinect: _rules: git: {anon-uri: 'https://github.com/ros-pkg-git/kinect.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'git@github.com:ros-pkg-git/kinect.git'} repo: ros-pkg version: 0.1.6 kinematics: {_rules: wg-ros-pkg-trunk, version: 0.3.0} knowrob: _rules: repo: tum-ros-pkg svn: {anon-dev: 'http://code.in.tum.de/pubsvn/knowrob/branches/release', anon-distro-tag: 'http://code.in.tum.de/pubsvn/knowrob/tags/$RELEASE_NAME', anon-release-tag: 'http://code.in.tum.de/pubsvn/knowrob/tags/$STACK_NAME-$STACK_VERSION', dev: 'http://code.in.tum.de/svn/knowrob/branches/release', distro-tag: 'http://code.in.tum.de/svn/knowrob/tags/$RELEASE_NAME', release-tag: 'http://code.in.tum.de/svn/knowrob/tags/$STACK_NAME-$STACK_VERSION'} version: null laser_drivers: {version: 1.2.2} laser_pipeline: {version: 1.0.2} linux_networking: {_rules: linux_networking, version: 0.1.6} mapping: _rules: git: {anon-uri: 'git://code.in.tum.de/git/mapping.git', dev-branch: master, distro-tag: $RELEASE_NAME_released, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'indefero@code.in.tum.de:mapping.git'} repo: tum-ros-pkg version: null motion_planners: {_rules: wg-ros-pkg-trunk, version: 0.3.1} motion_planning_common: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} motion_planning_environment: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} motion_planning_visualization: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} mpi: {_rules: wg-ros-pkg-trunk, version: null} multimaster_experimental: {_rules: ros-trunk, version: 0.1.0} navigation: {_rules: ros-pkg-trunk, version: 1.3.1} navigation_experimental: {version: 0.1.4} nxt: _rules: hg: {dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://stack-nxt.foote-ros-pkg.googlecode.com/hg'} repo: foote-ros-pkg version: 0.1.1 nxt_apps: _rules: hg: {dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://stack-nxt-apps.foote-ros-pkg.googlecode.com/hg'} repo: foote-ros-pkg version: 0.1.0 version: 0.1.1 nxt_robots: _rules: hg: {dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://stack-nxt-robots.foote-ros-pkg.googlecode.com/hg'} repo: foote-ros-pkg version: 0.1.0 version: 0.1.2 object_manipulation: {_rules: arm_navigation_0_3, version: 0.3.0} ocr: {_rules: bosch-ros-pkg, version: null} octomap_mapping: {_rules: alufr-ros-pkg, version: 0.1.2} orocos_toolchain_ros: {_rules: orocos_toolchain_ros, version: 0.1.9} pano: {_rules: ros-pkg-trunk, version: null} people: {_rules: wg-ros-pkg-trunk, version: null} perception_pcl: {version: 0.7.1} perception_pcl_addons: {version: 0.2.0} physics_ode: {version: 1.2.8} point_cloud_perception: {version: 0.5.2} pr2_apps: {_rules: wg-ros-pkg-trunk, version: 0.3.0} pr2_arm_navigation: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} pr2_arm_navigation_apps: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} pr2_arm_navigation_tests: {_rules: wg-ros-pkg-trunk, version: 0.3.0} pr2_calibration: {_rules: wg-ros-pkg-trunk, version: 0.5.0} pr2_cockpit: {_rules: wg-ros-pkg-trunk, version: 0.2.3} pr2_common: {_rules: wg-ros-pkg-trunk, version: 1.3.1} pr2_common_actions: {_rules: wg-ros-pkg-trunk, version: 0.3.2} pr2_common_alpha: {_rules: wg-ros-pkg-trunk, version: 0.1.2} pr2_controllers: {_rules: wg-ros-pkg-trunk, version: 1.3.1} pr2_doors: {_rules: wg-ros-pkg-trunk, version: 0.3.9} pr2_ethercat_drivers: {_rules: wg-ros-pkg-1.3, version: 1.3.2} pr2_exploration: {_rules: bosch-ros-pkg, version: 0.1.0} pr2_gui: {_rules: wg-ros-pkg-trunk, version: 1.0.2} pr2_kinematics: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} pr2_kinematics_with_constraints: {_rules: motion_planners_unstable_prerelease, version: 0.3.1} pr2_mechanism: {_rules: wg-ros-pkg-trunk, version: 1.4.0} pr2_navigation: _rules: repo: wg-ros-pkg svn: {dev: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/branches/cturtle_branch', distro-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', release-tag: 'https://code.ros.org/svn/wg-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} version: 0.1.5 pr2_navigation_apps: {_rules: wg-ros-pkg-trunk, version: 0.1.1} pr2_object_manipulation: {_rules: arm_navigation_0_3, version: 0.3.0} pr2_plugs: {_rules: wg-ros-pkg-trunk, version: 0.3.11} pr2_power_drivers: {_rules: wg-ros-pkg-trunk, version: 1.0.8} pr2_robot: {_rules: wg-ros-pkg-trunk, version: 1.1.0} pr2_self_test: {_rules: wg-ros-pkg-trunk, version: 0.3.1} pr2_simulator: {_rules: wg-ros-pkg-trunk, version: 1.3.2} pr2_tabletop_manipulation_apps: {_rules: arm_navigation_0_3, version: 0.3.0} pr2_web_apps: {_rules: wg-ros-pkg-trunk, version: 0.3.11} robot_calibration: {version: 0.3.2} robot_model: {_rules: ros-pkg-1.4, version: 1.4.0} ros: {_rules: ros-trunk, version: 1.4.0} ros_applications: _rules: hg: {dev-branch: default, distro-tag: $RELEASE_NAME, release-tag: $STACK_NAME-$STACK_VERSION, uri: 'https://ros-applications.hg-ros-pkg.googlecode.com/hg/'} repo: wg-ros-pkg version: 0.1.0 ros_comm: {_rules: ros-trunk, version: 1.3.4} ros_realtime: {_rules: ros-trunk, version: 0.5.1} ros_release: {_rules: ros-trunk, version: 0.1.7} ros_tutorials: {_rules: ros-trunk, version: 0.2.3} roshpit: {_rules: ros-trunk, version: 0.2.3} roslisp_common: {_rules: ros-pkg-trunk, version: 0.1.2} roslisp_support: {_rules: ros-trunk, version: 0.2.11} rx: {_rules: ros-trunk, version: 1.4.0} simulator_gazebo: {version: 1.2.8} simulator_stage: {version: 1.2.2} slam_gmapping: {version: 1.2.2} slam_karto: {_rules: ros-pkg-trunk, version: null} sound_drivers: {version: 1.2.1} sql_database: {_rules: manipulation-0.2, version: 0.2.2} tabletop_object_perception: {_rules: manipulation-0.3, version: 0.3.1} topological_navigation: {_rules: wg-ros-pkg-trunk, version: null} trajectory_filters: {_rules: wg-ros-pkg-trunk, version: 0.3.0} velodyne: {_rules: utexas-art-ros-pkg, version: 0.2.5} vision_opencv: {version: 1.3.6} visualization: {_rules: ros-pkg-1.4, version: 1.3.2} visualization_common: {version: 1.3.2} visualization_tutorials: {version: 0.2.2} vslam: {version: 0.2.2} web_interface: {_rules: wg-ros-pkg-trunk, version: 0.4.3} wg_common: {_rules: wg-ros-pkg-trunk, version: 0.1.3} wg_hardware_test: {_rules: wg-ros-pkg-trunk, version: null} wg_pr2_apps: {_rules: wg-ros-pkg-trunk, version: 0.1.2} wg_robots_gazebo: {_rules: wg-ros-pkg-trunk, version: 0.1.0} wifi_drivers: {_rules: wg-ros-pkg-trunk, version: 0.1.3} variants: - ros-base: stacks: [ros, ros_comm] - ros-full: extends: ros-base stacks: [rx, documentation] - viz: stacks: [visualization_common, visualization] - robot: extends: ros-base stacks: [common_msgs, common, diagnostics, driver_common, geometry, robot_model, executive_smach] - simulators: extends: [robot] stacks: [simulator_stage, simulator_gazebo, physics_ode] - mobile: extends: [robot] stacks: [navigation, slam_gmapping] - perception: extends: [ros-base] stacks: [image_common, image_transport_plugins, image_pipeline, laser_pipeline, perception_pcl, vision_opencv] - desktop: extends: [robot, viz] stacks: [ros_tutorials, common_tutorials, geometry_tutorials, visualization_tutorials] - desktop-full: extends: [desktop, mobile, perception, simulators] - move-arm: stacks: [arm_navigation, kinematics, motion_planners, motion_planning_common, object_manipulation, trajectory_filters] - pr2-base: extends: [mobile, perception, move-arm] stacks: [pr2_common, pr2_controllers, pr2_mechanism, pr2_robot, web_interface, pr2_calibration, pr2_navigation, pr2_kinematics, pr2_arm_navigation, pr2_arm_navigation_tests, pr2_object_manipulation, pr2_tabletop_manipulation_apps, tabletop_object_perception, sql_database] - pr2: extends: [pr2-base] stacks: [pr2_ethercat_drivers, pr2_power_drivers, camera_drivers, laser_drivers, sound_drivers, wifi_drivers] - pr2-desktop: extends: [desktop-full, pr2-base] stacks: [pr2_gui, pr2_simulator] - pr2-applications: extends: pr2 stacks: [pr2_apps, pr2_common_actions, pr2_doors, pr2_navigation_apps, pr2_plugs, pr2_self_test, pr2_web_apps] - wg-pr2: extends: [pr2, pr2-applications] stacks: [wg_common, wg_pr2_apps] - care-o-bot: stacks: [cob_extern, cob_common, cob_driver, cob_simulation, cob_apps] - bosch: stacks: [bosch_drivers, bosch_skin, exploration, ocr, pr2_exploration] - nxtall: stacks: [nxt, nxt_apps, nxt_robots] - alufr: stacks: [freiburg_tools, articulation, octomap_mapping] - utexas-art: extends: [ros-base] stacks: [art_vehicle, velodyne] - tum: stacks: [cram_pl, mapping] version: '$Revision: 8596 $' rospkg-1.2.3/test/rosdistro/empty_variants.rosdistro000066400000000000000000000005311360343013700230470ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {_rules: rules1, version: 0.3.0} variants: version: 1 rospkg-1.2.3/test/rosdistro/no_variants.rosdistro000066400000000000000000000005171360343013700223310ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {_rules: rules1, version: 0.3.0} version: 1 rospkg-1.2.3/test/rosdistro/roscore-bad.xml000066400000000000000000000002141360343013700207500ustar00rootroot00000000000000 rospkg-1.2.3/test/rosdistro/simple.rosdistro000066400000000000000000000005661360343013700213030ustar00rootroot00000000000000_rules: rules1: svn: {dev: 'https://simple.com/svn/trunk/$STACK_NAME', distro-tag: 'https://simple.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', release-tag: 'https://simple.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'} release: simple stacks: stack1: {_rules: rules1, version: 0.3.0} variants: - base: stacks: [stack1] version: 1 rospkg-1.2.3/test/setup.cfg000066400000000000000000000000761360343013700156250ustar00rootroot00000000000000[nosetests] with-coverage=1 cover-package=rospkg with-xunit=1 rospkg-1.2.3/test/stack_tests/000077500000000000000000000000001360343013700163305ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/000077500000000000000000000000001360343013700166535ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/bar/000077500000000000000000000000001360343013700174175ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/bar/CMakeLists.txt000066400000000000000000000002361360343013700221600ustar00rootroot00000000000000cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROSPACK_MAKEDIST true) rosbuild_make_distribution(1.5.0-cmake) rospkg-1.2.3/test/stack_tests/s1/bar/bar_pkg/000077500000000000000000000000001360343013700210245ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/bar/bar_pkg/manifest.xml000066400000000000000000000003411360343013700233520ustar00rootroot00000000000000 bar_pkg Ken Conley BSD http://ros.org/wiki/bar_pkg rospkg-1.2.3/test/stack_tests/s1/bar/stack.xml000066400000000000000000000003231360343013700212440ustar00rootroot00000000000000 bar bar Ken Conley BSD Willow Garage rospkg-1.2.3/test/stack_tests/s1/foo/000077500000000000000000000000001360343013700174365ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/foo/CMakeLists.txt000066400000000000000000000002361360343013700221770ustar00rootroot00000000000000cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROSPACK_MAKEDIST true) rosbuild_make_distribution(1.5.0-cmake) rospkg-1.2.3/test/stack_tests/s1/foo/foo_pkg/000077500000000000000000000000001360343013700210625ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/foo/foo_pkg/manifest.xml000066400000000000000000000003411360343013700234100ustar00rootroot00000000000000 foo_pkg Ken Conley BSD http://ros.org/wiki/foo_pkg rospkg-1.2.3/test/stack_tests/s1/foo/foo_pkg_2/000077500000000000000000000000001360343013700213035ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s1/foo/foo_pkg_2/manifest.xml000066400000000000000000000003471360343013700236370ustar00rootroot00000000000000 foo_pkg_2 Ken Conley BSD http://ros.org/wiki/foo_pkg_2 rospkg-1.2.3/test/stack_tests/s1/foo/stack.xml000066400000000000000000000003471360343013700212710ustar00rootroot00000000000000 foo foo Ken Conley 1.6.0-manifest BSD Willow Garage rospkg-1.2.3/test/stack_tests/s2/000077500000000000000000000000001360343013700166545ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s2/baz/000077500000000000000000000000001360343013700174305ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s2/baz/stack.xml000066400000000000000000000003321360343013700212550ustar00rootroot00000000000000 baz foo 1-manifest Ken Conley BSD Willow Garage rospkg-1.2.3/test/stack_tests/s2/baz/stack.yaml000066400000000000000000000003541360343013700214230ustar00rootroot00000000000000Catkin-ProjectName: baz Version: 1.7.3-yaml Depends: catkin, rospack Description: baz Author: No One Maintainer: No One Homepage: http://www.ros.org Catkin-CopyrightType: willowgarage Catkin-DebRulesType: cmake rospkg-1.2.3/test/stack_tests/s2/foo/000077500000000000000000000000001360343013700174375ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s2/foo/CMakeLists.txt000066400000000000000000000000621360343013700221750ustar00rootroot00000000000000#bad value on purpose rosbuild_make_distribution( rospkg-1.2.3/test/stack_tests/s2/foo/stack.xml000066400000000000000000000002001360343013700212560ustar00rootroot00000000000000 foo Ken Conley BSD rospkg-1.2.3/test/stack_tests/s3/000077500000000000000000000000001360343013700166555ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s3/baz/000077500000000000000000000000001360343013700174315ustar00rootroot00000000000000rospkg-1.2.3/test/stack_tests/s3/baz/stack.xml000066400000000000000000000002621360343013700212600ustar00rootroot00000000000000 bar Ken Conley BSD rospkg-1.2.3/test/test_rospkg_catkin_packages.py000066400000000000000000000056321360343013700221140ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function import os import rospkg search_path = os.path.abspath(os.path.join(os.path.dirname(__file__), 'catkin_package_tests')) def test_find_packages(): manager = rospkg.rospack.ManifestManager(rospkg.common.MANIFEST_FILE, ros_paths=[search_path]) # for backward compatibility a wet package which is not a metapackage is found when searching for MANIFEST_FILE assert(len(manager.list()) == 1) manager = rospkg.rospack.ManifestManager(rospkg.common.STACK_FILE, ros_paths=[search_path]) assert(len(manager.list()) == 0) manager = rospkg.rospack.ManifestManager(rospkg.common.PACKAGE_FILE, ros_paths=[search_path]) for pkg_name in manager.list(): assert(pkg_name == 'foo') path = manager.get_path(pkg_name) assert(path == os.path.join(search_path, 'p1', 'foo')) def test_get_manifest(): manager = rospkg.rospack.ManifestManager(rospkg.common.MANIFEST_FILE, ros_paths=[search_path]) manif = manager.get_manifest("foo") assert(manif.type == "package") def test_licenses(): rospack = rospkg.rospack.RosPack(ros_paths=[search_path]) licenses_list = ["BSD", "LGPL"] manif = rospack.get_manifest("foo") assert(manif.license == ", ".join(licenses_list)) assert(len(manif.licenses) == 2) for l in manif.licenses: assert(l in licenses_list) rospkg-1.2.3/test/test_rospkg_common.py000066400000000000000000000041431360343013700202710ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function def test_ResourceNotFound(): from rospkg import ResourceNotFound r = ResourceNotFound('blah') assert 'blah' == str(r) assert r.ros_paths is None s = str(r) assert 'None' not in s assert 'blah' in s r = ResourceNotFound('blah', ['ros_root', 'ros_package_path']) assert 'blah' == str(r.args[0]) assert ['ros_root', 'ros_package_path'] == r.ros_paths s = str(r) print(s) assert 'blah' in s assert 'ros_root' in s assert 'ros_package_path' in s rospkg-1.2.3/test/test_rospkg_distro.py000066400000000000000000000502141360343013700203050ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2009, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. import os import yaml def get_test_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'rosdistro')) def get_etc_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'fakeetcros')) def test_distro_uri(): from rospkg.distro import distro_uri assert distro_uri('groovy') == "http://svn.code.sf.net/p/ros-dry-releases/code/trunk/distros/groovy.rosdistro" def test_current_distro_codename(): import rospkg.environment from rospkg.distro import current_distro_codename assert 'awesome' == current_distro_codename(env={'ROS_DISTRO': 'awesome'}) env = {rospkg.environment.ROS_ETC_DIR: get_etc_path()} val = current_distro_codename(env=env) assert 'rosawesome' == current_distro_codename(env=env), val def test__current_distro_electric(): from rospkg.distro import _current_distro_electric # tripwire, not allowed to throw _current_distro_electric() def test__current_distro_electric_parse_roscore(): from rospkg.distro import _current_distro_electric_parse_roscore roscore_file = os.path.join(get_test_path(), 'roscore-electric.xml') assert os.path.exists(roscore_file), roscore_file val = _current_distro_electric_parse_roscore(roscore_file) assert 'electric' == val, val bad_roscore_file = os.path.join(get_test_path(), 'roscore-bad.xml') assert _current_distro_electric_parse_roscore(bad_roscore_file) is None no_roscore_file = os.path.join(get_test_path(), 'non-existent.xml') assert _current_distro_electric_parse_roscore(no_roscore_file) is None def xtest_Distro_dback(self): # TODO: better unit tests. For now this is mostly a tripwire from rospkg.distro import DistroStack distros = load_Distros_dback() dback = distros['diamondback'] r = 'diamondback' v = 'r8596' self.assertEquals(r, dback.release_name) self.assertEquals(v, dback.version) # make sure ros got assigned and is correct ros = DistroStack('ros', dback_ros_rules, dback_versions['ros'], r, v) self.assertEquals(ros, dback.ros) self.assertEquals(ros, dback.stacks['ros']) # make sure the variants are configured self.assert_('base' not in dback.variants) ros_base = dback.variants['ros-base'] self.assertEquals([], ros_base.extends) ros_base_stacks = ['ros', 'ros_comm'] self.assertEquals(ros_base_stacks, ros_base.stack_names) robot = dback.variants['robot'] # extends ros-base self.assertEquals(set(['ros-base']), set(robot.extends)) robot_stacks = ['common_msgs', 'common', 'diagnostics', 'driver_common', 'geometry', 'robot_model', 'executive_smach'] self.assertEquals(set(ros_base_stacks + robot_stacks), set(robot.stack_names)) self.assertEquals(set(robot_stacks), set(robot.stack_names_explicit)) mobile = dback.variants['mobile'] # extends robot mobile_stacks = ['navigation', 'slam_gmapping'] self.assertEquals(set(ros_base_stacks + robot_stacks + mobile_stacks), set(mobile.stack_names)) self.assertEquals(set(mobile_stacks), set(mobile.stack_names_explicit)) viz = dback.variants['viz'] self.assertEquals([], viz.extends) viz_stacks = ['visualization_common', 'visualization'] self.assertEquals(set(viz_stacks), set(viz.stack_names)) self.assertEquals(set(viz_stacks), set(viz.stack_names_explicit)) desktop = dback.variants['desktop'] # robot, rviz self.assertEquals(set(['robot', 'viz']), set(desktop.extends)) desktop_stacks = ['ros_tutorials', 'common_tutorials', 'geometry_tutorials', 'visualization_tutorials'] self.assertEquals(set(ros_base_stacks + robot_stacks + viz_stacks + desktop_stacks), set(desktop.stack_names)) self.assertEquals(set(desktop_stacks), set(desktop.stack_names_explicit)) simulator_stacks = ['simulator_stage', 'simulator_gazebo', 'physics_ode'] perception_stacks = ['image_common', 'image_transport_plugins', 'image_pipeline', 'laser_pipeline', 'perception_pcl', 'vision_opencv'] desktop_full = dback.variants['desktop-full'] self.assertEquals(set(['desktop', 'mobile', 'perception', 'simulators']), set(desktop_full.extends)) self.assertEquals(set(ros_base_stacks + robot_stacks + mobile_stacks + perception_stacks + simulator_stacks + desktop_stacks + viz_stacks), set(desktop_full.stack_names)) self.assertEquals([], desktop_full.stack_names_explicit) # make sure we loaded the stacks stack_names = ['common', 'common_msgs', 'navigation'] for s in stack_names: val = DistroStack(s, dback_rospkg_rules, dback_versions[s], r, v) self.assertEquals(val, dback.stacks[s]) # test an hg rule dback_geometry_rules = {'hg': {'dev-branch': 'tf_rework', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'uri': 'https://ros-geometry.googlecode.com/hg/'}, 'repo': 'ros-pkg', } s = 'geometry' val = DistroStack(s, dback_geometry_rules, dback_versions[s], r, v) self.assertEquals(val, dback.stacks[s]) def test_expand_rule(): from rospkg.distro import expand_rule assert 'foo' == expand_rule('$STACK_NAME', 'foo', 'version', 'release') assert 'version' == expand_rule('$STACK_VERSION', 'foo', 'version', 'release') assert 'release' == expand_rule('$RELEASE_NAME', 'foo', 'version', 'release') assert 'foo-version-release' == expand_rule('$STACK_NAME-$STACK_VERSION-$RELEASE_NAME', 'foo', 'version', 'release') default_rules = {} default_rules['git'] = {'git': {'anon-uri': 'https://github.com/ipa320/$STACK_NAME.git', 'dev-branch': 'release_electric', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'uri': 'git@github.com:ipa320/$STACK_NAME.git'}} rule = default_rules['git'] def test_DistroStack(): from rospkg.distro import DistroStack s = DistroStack('stack', 'version', 'electric', rule) assert 'stack' == s.name assert 'version' == s.version assert rule == s._rules assert 'git' == s.vcs_config.type assert s.vcs_config.get_branch('devel', False) == ('git@github.com:ipa320/stack.git', 'release_electric') assert s.vcs_config.get_branch('devel', True) == ('https://github.com/ipa320/stack.git', 'release_electric') assert s.vcs_config.get_branch('distro', False) == ('git@github.com:ipa320/stack.git', 'electric'), s.vcs_config.get_branch('release', False) assert s.vcs_config.get_branch('distro', True) == ('https://github.com/ipa320/stack.git', 'electric') assert s.vcs_config.get_branch('release', False) == ('git@github.com:ipa320/stack.git', 'stack-version'), s.vcs_config.get_branch('release', False) assert s.vcs_config.get_branch('release', True) == ('https://github.com/ipa320/stack.git', 'stack-version') assert s == s assert s == DistroStack('stack', 'version', 'electric', rule) assert s != 'stack' assert s != DistroStack('stack2', 'version', 'electric', rule) assert s != DistroStack('stack', 'version2', 'electric', rule) assert s != DistroStack('stack', 'version', 'dback', rule) rule2 = rule.copy() rule2['git']['uri'] == 'foo' assert s != DistroStack('stack', 'version', 'dback', rule2) def test_Variant(): from rospkg.distro import Variant v = Variant("foo", [], [], []) assert 'foo' == v.name assert [] == v.extends assert [] == v.get_stack_names(True) assert [] == v.get_stack_names(False) raw_data = {'extends': ['robot', 'viz'], 'stacks': ['arm_navigation', 'octomap_mapping', 'physics_ode', 'perception_pcl', 'pr2_controllers', 'control', 'pr2_mechanism', 'pr2_common']} stack_names_implicit = raw_data['stacks'] + ['a', 'b', 'c', 'd'] v = Variant('bar', raw_data['extends'], raw_data['stacks'], stack_names_implicit) assert set(v.extends) == set(['robot', 'viz']), v.extends assert set(v.get_stack_names(True)) == set(['arm_navigation', 'octomap_mapping', 'physics_ode', 'perception_pcl', 'pr2_controllers', 'control', 'pr2_mechanism', 'pr2_common', 'a', 'b', 'c', 'd']) assert set(v.get_stack_names(False)) == set(['arm_navigation', 'octomap_mapping', 'physics_ode', 'perception_pcl', 'pr2_controllers', 'control', 'pr2_mechanism', 'pr2_common']) def test_Distro(): from rospkg.distro import Distro, Variant, DistroStack raw_data = {'extends': ['robot', 'viz'], 'stacks': ['arm_navigation', 'octomap_mapping', 'physics_ode', 'perception_pcl', 'pr2_controllers', 'control', 'pr2_mechanism', 'pr2_common']} stack_names_implicit = raw_data['stacks'] + ['a', 'b', 'c', 'd'] v = Variant('bar', raw_data['extends'], raw_data['stacks'], stack_names_implicit) s = DistroStack('stack', 'version', 'electric', rule) s_unreleased = DistroStack('unreleased', None, 'electric', rule) variants = {'bar': v} stacks = {'stack': s, 'unreleased': s_unreleased} d = Distro(stacks, variants, 'electric', '1', {}) assert d._stacks == stacks assert d.variants == variants assert d.release_name == 'electric' assert d.version == '1' assert {} == d.raw_data assert stacks == d.get_stacks(released=False) assert {'stack': s} == d.get_stacks(released=True) assert stacks == d.stacks assert {'stack': s} == d.released_stacks dback_ros_rules = {'svn': {'dev': 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/trunk', 'distro-tag': 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$RELEASE_NAME', 'release-tag': 'https://code.ros.org/svn/ros/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'}, 'repo': 'ros'} dback_rospkg_rules = {'svn': {'dev': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/trunk', 'distro-tag': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', 'release-tag': 'https://code.ros.org/svn/ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'}, 'repo': 'ros-pkg'} dback_versions = { 'common': '1.3.3', 'common_msgs': '1.3.5', 'geometry': '1.3.1', 'navigation': '1.3.1', 'ros': '1.4.0', } def test_load_distro_bad_data(): from rospkg import ResourceNotFound from rospkg.distro import load_distro, InvalidDistro try: load_distro('bad') assert False except ResourceNotFound: pass for i in range(1, 10): if i == 4: # currently non-existent stacks in variants are not determinable continue filename = 'bad%s.rosdistro' % (i) try: d = get_test_path() p = os.path.join(d, filename) load_distro(p) assert False, "should have raised: %s" % (filename) except InvalidDistro: pass def test_load_distro_variants(): # test with no and empty variants (issue found in fuerte bringup) from rospkg.distro import load_distro d = get_test_path() for name in ['no_variants.rosdistro', 'empty_variants.rosdistro']: p = os.path.join(d, name) distro = load_distro(p) assert distro.release_name == 'simple', distro.release_name assert set(distro.variants.keys()) == set([]) def test_distro_to_rosinstall(): from rospkg.distro import distro_to_rosinstall, load_distro d = get_test_path() distro = load_distro(os.path.join(d, 'simple.rosdistro')) data = distro_to_rosinstall(distro, 'devel', variant_name='base', implicit=False, released_only=True, anonymous=True) # should only have a single stack assert len(data) == 1 url = 'https://simple.com/svn/trunk/stack1' assert data[0] == dict(svn={'uri': url, 'local-name': 'stack1'}) data = distro_to_rosinstall(distro, 'devel', variant_name=None, implicit=False, released_only=True, anonymous=True) assert len(data) == 1 assert data[0] == dict(svn={'uri': url, 'local-name': 'stack1'}) data = distro_to_rosinstall(distro, 'devel', variant_name=None, implicit=False, released_only=False, anonymous=True) assert len(data) == 1 assert data[0] == dict(svn={'uri': url, 'local-name': 'stack1'}) # TODO: need more complete tests with more complicated files def test_load_distro_simple(): from rospkg.distro import load_distro, Distro d = get_test_path() p = os.path.join(d, 'simple.rosdistro') distro = load_distro(p) assert isinstance(distro, Distro) assert distro.release_name == 'simple', distro.release_name assert distro.version == '1', distro.version assert yaml.load(open(p)) == distro.raw_data, distro.raw_data assert set(distro.variants.keys()) == set(['base']) assert set(distro.stacks.keys()) == set(['stack1']) stack1 = distro.stacks['stack1'] assert stack1.vcs_config.get_branch('devel', False) == ('https://simple.com/svn/trunk/stack1', None) assert stack1.vcs_config.get_branch('distro', False) == ('https://simple.com/svn/tags/distros/simple/stacks/stack1', None) assert stack1.vcs_config.get_branch('release', False) == ('https://simple.com/svn/tags/stacks/stack1/stack1-0.3.0', None) def test_load_distro_diamondback(): from rospkg.distro import load_distro, Distro d = get_test_path() p = os.path.join(d, 'diamondback.rosdistro') distro = load_distro(p) assert isinstance(distro, Distro) assert distro.release_name == 'diamondback', distro.release_name assert distro.version == 'r8596', distro.version assert yaml.load(open(p)) == distro.raw_data, distro.raw_data assert set(distro.variants.keys()) == set(diamondback_variants) assert set(distro.stacks.keys()) == set(diamondback_stacks), set(distro.stacks.keys()) ^ set(diamondback_stacks) assert distro.variants['ros-base'].extends == [] retval = distro.variants['ros-base'].get_stack_names(True) assert retval == ['ros', 'ros_comm'], retval assert distro.variants['ros-base'].get_stack_names(False) == ['ros', 'ros_comm'] assert set(distro.variants['ros-full'].get_stack_names(True)) == set(['ros', 'ros_comm', 'rx', 'documentation']) assert distro.stacks['common'].version == '1.3.3' assert distro.stacks['common'].vcs_config.get_branch('devel', True) == ('https://code.ros.org/svn/ros-pkg/stacks/common/trunk', None) def test__load_variants(): from rospkg.distro import _load_variants raw_data = yaml.load("""variants: - ros-base: stacks: [ros, ros_comm] - ros-full: extends: ros-base stacks: [rx, documentation] - viz: stacks: [visualization_common, visualization] - robot: extends: [ros-base] stacks: [common_msgs, common, diagnostics] - desktop: extends: [robot, viz, ros-full] stacks: [ros_tutorials, common_tutorials] """) raw_data = raw_data['variants'] # mock data so variants validate stacks = dict(ros=1, ros_comm=2, rx=3, documentation=4, visualization_common=5, visualization=6, common_msgs=7, common=8, ros_tutorials=9, common_tutorials=10, diagnostics=11) variants = _load_variants(raw_data, stacks) assert set(variants.keys()) == set(['ros-base', 'ros-full', 'viz', 'robot', 'desktop']), variants.keys() assert variants['ros-base'].extends == [] assert variants['ros-full'].extends == ['ros-base'] assert variants['desktop'].extends == ['robot', 'viz', 'ros-full'] assert set(variants['ros-base'].get_stack_names(True)) == set(['ros', 'ros_comm']) assert set(variants['ros-base'].get_stack_names(False)) == set(['ros', 'ros_comm']) assert set(variants['ros-full'].get_stack_names(True)) == set(['rx', 'documentation', 'ros', 'ros_comm']) assert set(variants['ros-full'].get_stack_names(False)) == set(['rx', 'documentation']) assert set(variants['desktop'].get_stack_names(True)) == set(stacks.keys()) assert set(variants['desktop'].get_stack_names(False)) == set(['ros_tutorials', 'common_tutorials']) diamondback_stacks = [ 'pr2_web_apps', 'octomap_mapping', 'motion_planning_environment', 'robot_calibration', 'sound_drivers', 'joystick_drivers', 'ros', 'pano', 'knowrob', 'perception_pcl', 'image_pipeline', 'kinect', 'bosch_skin', 'pr2_common_actions', 'pr2_arm_navigation_apps', 'ocr', 'articulation', 'nxt_robots', 'visualization_common', 'physics_ode', 'arm_navigation', 'collision_environment', 'executive_smach', 'ethzasl_aseba', 'cart_pushing', 'velodyne', 'pr2_arm_navigation_tests', 'art_vehicle', 'common', 'motion_planning_visualization', 'geometry_tutorials', 'people', 'pr2_power_drivers', 'joystick_drivers_tutorials', 'cob_common', 'vslam', 'pr2_arm_navigation', 'ias_common', 'pr2_navigation_apps', 'geometry_experimental', 'rx', 'motion_planners', 'pr2_gui', 'simulator_stage', 'linux_networking', 'pr2_calibration', 'image_common', 'visualization', 'mpi', 'cob_extern', 'camera_drivers', 'laser_drivers', 'orocos_toolchain_ros', 'driver_common', 'common_msgs', 'pr2_controllers', 'robot_model', 'motion_planning_common', 'simulator_gazebo', 'cram_pl', 'multimaster_experimental', 'navigation', 'pr2_robot', 'geometry', 'freiburg_tools', 'nxt_apps', 'wifi_drivers', 'slam_gmapping', 'web_interface', 'vision_opencv', 'kinematics', 'pr2_simulator', 'roshpit', 'pr2_cockpit', 'pr2_kinematics', 'sql_database', 'navigation_experimental', 'pr2_object_manipulation', 'erratic_robot', 'object_manipulation', 'tabletop_object_perception', 'pr2_tabletop_manipulation_apps', 'bosch_drivers', 'image_transport_plugins', 'perception_pcl_addons', 'slam_karto', 'wg_hardware_test', 'ros_release', 'pr2_navigation', 'exploration', 'continuous_ops', 'control', 'ros_tutorials', 'pr2_ethercat_drivers', 'ethzasl_message_transport', 'client_rosjava', 'ros_realtime', 'pr2_mechanism', 'point_cloud_perception', 'wg_pr2_apps', 'graph_mapping', 'cob_driver', 'cob_simulation', 'pr2_common', 'wg_robots_gazebo', 'pr2_common_alpha', 'trajectory_filters', 'topological_navigation', 'imu_drivers', 'ros_applications', 'pr2_exploration', 'common_tutorials', 'ros_comm', 'mapping', 'pr2_plugs', 'roslisp_common', 'wg_common', 'roslisp_support', 'cob_apps', 'nxt', 'pr2_apps', 'visualization_tutorials', 'laser_pipeline', 'pr2_kinematics_with_constraints', 'documentation', 'pr2_self_test', 'diagnostics', 'pr2_doors'] diamondback_variants = [ 'ros-base', 'ros-full', 'viz', 'robot', 'simulators', 'mobile', 'perception', 'desktop', 'desktop-full', 'move-arm', 'pr2-base', 'pr2', 'pr2-desktop', 'pr2-applications', 'wg-pr2', 'care-o-bot', 'bosch', 'nxtall', 'alufr', 'utexas-art', 'tum'] rospkg-1.2.3/test/test_rospkg_distro_vcs_config.py000066400000000000000000000435361360343013700225160ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. default_rules = {} rosinstalls = {} default_rules['git'] = {'git': {'anon-uri': 'https://github.com/ipa320/$STACK_NAME.git', 'dev-branch': 'release_electric', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'uri': 'git@github.com:ipa320/$STACK_NAME.git'}} rosinstalls['git'] = {} rosinstalls['git']['release-tar'] = [{'tar': {'local-name': 'local_name', 'version': '$STACK_NAME-$STACK_VERSIONevaled', 'uri': 'http://svn.code.sf.net/p/ros-dry-releases/code/download/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION/$STACK_NAME-$STACK_VERSION.tar.bz2evaled'}}] rosinstalls['git']['devel'] = [{'git': {'local-name': 'local_name', 'version': 'release_electricevaled', 'uri': 'https://github.com/ipa320/$STACK_NAME.gitevaled'}}] rosinstalls['git']['release'] = [{'git': {'local-name': 'local_name', 'version': '$STACK_NAME-$STACK_VERSIONevaled', 'uri': 'https://github.com/ipa320/$STACK_NAME.gitevaled'}}] rosinstalls['git']['distro'] = [{'git': {'local-name': 'local_name', 'version': '$RELEASE_NAMEevaled', 'uri': 'https://github.com/ipa320/$STACK_NAME.gitevaled'}}] default_rules['svn'] = {'svn': {'dev': 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAME', 'distro-tag': 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAME', 'release-tag': 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSION'}} rosinstalls['svn'] = {} rosinstalls['svn']['release-tar'] = rosinstalls['git']['release-tar'] rosinstalls['svn']['devel'] = [{'svn': {'local-name': 'local_name', 'uri': 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAMEevaled', }}] rosinstalls['svn']['release'] = [{'svn': {'local-name': 'local_name', 'uri': 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSIONevaled', }}] rosinstalls['svn']['distro'] = [{'svn': {'local-name': 'local_name', 'uri': 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAMEevaled', }}] default_rules['hg'] = {'hg': {'dev-branch': 'default', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'uri': 'https://kforge.ros.org/navigation/navigation'}} default_rules['bzr'] = {'bzr': {'anon-uri': 'lp:sr-ros-interface', 'dev-branch': 'stable', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'uri': 'bzr+ssh://bazaar.launchpad.net/~shadowrobot/sr-ros-interface'}} def test_to_rosinstall(): from rospkg.distro import load_vcs_config def rule_eval(x): return x + 'evaled' anonymous = True # TODO: for branch in ['devel', 'release', 'distro']: for vcs in ['git', 'svn']: vcs_config = load_vcs_config(default_rules[vcs], rule_eval) for branch in ['release', 'distro', 'release-tar', 'devel']: retval = vcs_config.to_rosinstall('local_name', branch, anonymous) assert retval == rosinstalls[vcs][branch], "%s %s:\n%s\nvs.\n%s" % (vcs, branch, retval, rosinstalls[vcs][branch]) def test_VcsConfig(): from rospkg.distro import VcsConfig vcs_config = VcsConfig('fake') vcs_config.tarball_url = 'http://foo' assert 'fake' == vcs_config.type for b in ['devel', 'release', 'distro']: try: vcs_config.get_branch(b, False) assert False, "should have raised" + b except ValueError: pass for anon in [True, False]: assert ('http://foo', None) == vcs_config.get_branch('release-tar', anon) def test_BZRConfig(): from rospkg.distro import BzrConfig anon_rules = default_rules['bzr']['bzr'] rules = anon_rules.copy() rules['uri'] = rules['anon-uri'] del rules['anon-uri'] config = BzrConfig() anon_config = BzrConfig() required = ['dev-branch', 'distro-tag', 'release-tag', 'uri'] for r in required: bad_copy = rules.copy() del bad_copy[r] try: config.load(bad_copy, lambda x: x) assert False, "should have raised" except KeyError: pass config.load(rules, lambda x: x + 'evaled') anon_config.load(anon_rules, lambda x: x + 'evaled') repo_uri = anon_rules['uri'] + 'evaled' anon_repo_uri = anon_rules['anon-uri'] + 'evaled' assert config.repo_uri == anon_repo_uri, config.repo_uri assert config.anon_repo_uri == anon_repo_uri, config.anon_repo_uri assert anon_config.repo_uri == repo_uri, anon_config.repo_uri for c in [config, anon_config]: assert c.dev_branch == 'stableevaled' assert c.distro_tag == '$RELEASE_NAMEevaled' assert c.release_tag == '$STACK_NAME-$STACK_VERSIONevaled' assert c.anon_repo_uri == anon_repo_uri c = anon_config assert c.get_branch('devel', False) == (repo_uri, 'stableevaled') assert c.get_branch('devel', True) == (anon_repo_uri, 'stableevaled') assert c.get_branch('distro', False) == (repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('distro', True) == (anon_repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('release', False) == (repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') assert c.get_branch('release', True) == (anon_repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') try: c.get_branch('foo', True) assert False except ValueError: pass # setup for coverage -- invalidate release branch rel_tag = c.release_tag c.release_tag = None try: assert c.get_branch('release', False) assert False except ValueError: pass c.release_tag = rel_tag # test equals config2 = BzrConfig() config2.load(rules, lambda x: x + 'evaled') assert config == config2 anon_config2 = BzrConfig() anon_config2.load(anon_rules, lambda x: x + 'evaled') assert anon_config == anon_config2 # test eq config_check = BzrConfig() config_check_eq = BzrConfig() config_check_neq = BzrConfig() config_check.load(rules, lambda x: x + 'evaled') config_check_eq.load(rules, lambda x: x + 'evaled') config_check_neq.load(anon_rules, lambda x: x + 'evaled') assert config_check == config_check_eq assert config_check != config_check_neq def test_HgConfig(): from rospkg.distro import HgConfig anon_rules = { 'dev-branch': 'default', 'distro-tag': '$RELEASE_NAME', 'release-tag': '$STACK_NAME-$STACK_VERSION', 'anon-uri': 'https://kforge.ros.org/navigation/navigation', 'uri': 'ssh://user@kforge.ros.org/navigation/navigation' } rules = default_rules['hg']['hg'] config = HgConfig() anon_config = HgConfig() required = ['dev-branch', 'distro-tag', 'release-tag', 'uri'] for r in required: bad_copy = rules.copy() del bad_copy[r] try: config.load(bad_copy, lambda x: x) assert False, "should have raised" except KeyError: pass config.load(rules, lambda x: x + 'evaled') anon_config.load(anon_rules, lambda x: x + 'evaled') repo_uri = 'ssh://user@kforge.ros.org/navigation/navigationevaled' anon_repo_uri = 'https://kforge.ros.org/navigation/navigationevaled' assert config.repo_uri == anon_repo_uri, config.repo_uri assert config.anon_repo_uri == anon_repo_uri, config.anon_repo_uri assert anon_config.repo_uri == repo_uri, anon_config.repo_uri for c in [config, anon_config]: assert c.dev_branch == 'defaultevaled' assert c.distro_tag == '$RELEASE_NAMEevaled' assert c.release_tag == '$STACK_NAME-$STACK_VERSIONevaled' assert c.anon_repo_uri == anon_repo_uri c = anon_config assert c.get_branch('devel', False) == (repo_uri, 'defaultevaled') assert c.get_branch('devel', True) == (anon_repo_uri, 'defaultevaled') assert c.get_branch('distro', False) == (repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('distro', True) == (anon_repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('release', False) == (repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') assert c.get_branch('release', True) == (anon_repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') # test equals config2 = HgConfig() config2.load(rules, lambda x: x + 'evaled') assert config == config2 anon_config2 = HgConfig() anon_config2.load(anon_rules, lambda x: x + 'evaled') assert anon_config == anon_config2 # test eq config_check = HgConfig() config_check_eq = HgConfig() config_check_neq = HgConfig() config_check.load(rules, lambda x: x + 'evaled') config_check_eq.load(rules, lambda x: x + 'evaled') config_check_neq.load(anon_rules, lambda x: x + 'evaled') assert config_check == config_check_eq assert config_check != config_check_neq def test_GitConfig(): from rospkg.distro import GitConfig anon_rules = default_rules['git']['git'] rules = anon_rules.copy() del rules['anon-uri'] config = GitConfig() anon_config = GitConfig() required = ['dev-branch', 'distro-tag', 'release-tag', 'uri'] for r in required: bad_copy = rules.copy() del bad_copy[r] try: config.load(bad_copy, lambda x: x) assert False, "should have raised" except KeyError: pass config.load(rules, lambda x: x + 'evaled') anon_config.load(anon_rules, lambda x: x + 'evaled') repo_uri = 'git@github.com:ipa320/$STACK_NAME.gitevaled' anon_repo_uri = 'https://github.com/ipa320/$STACK_NAME.gitevaled' assert config.repo_uri == repo_uri assert anon_config.anon_repo_uri == anon_repo_uri for c in [config, anon_config]: dev_branch = 'release_electricevaled' assert c.dev_branch == dev_branch assert c.distro_tag == '$RELEASE_NAMEevaled' assert c.release_tag == '$STACK_NAME-$STACK_VERSIONevaled' assert c.repo_uri == repo_uri c = anon_config assert c.get_branch('devel', False) == (repo_uri, dev_branch), c.get_branch('devel', False) assert c.get_branch('devel', True) == (anon_repo_uri, dev_branch) assert c.get_branch('distro', False) == (repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('distro', True) == (anon_repo_uri, '$RELEASE_NAMEevaled') assert c.get_branch('release', False) == (repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') assert c.get_branch('release', True) == (anon_repo_uri, '$STACK_NAME-$STACK_VERSIONevaled') # test equals config2 = GitConfig() config2.load(rules, lambda x: x + 'evaled') assert config == config2 anon_config2 = GitConfig() anon_config2.load(anon_rules, lambda x: x + 'evaled') assert anon_config == anon_config2 def test_SvnConfig(): from rospkg.distro import SvnConfig config = SvnConfig() required = ['dev', 'distro-tag', 'release-tag'] rules = default_rules['svn']['svn'] anon_rules = { 'anon-dev': 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk', 'anon-distro-tag': 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', 'anon-release-tag': 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION', 'dev': 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunk', 'distro-tag': 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAME', 'release-tag': 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSION'} # make sure it validates for k in required: bad_copy = rules.copy() del bad_copy[k] try: config.load(bad_copy, lambda x: x) assert False, "should have raised" except KeyError: pass # load w/o anon rules config.load(rules, lambda x: x + 'evaled') assert config.dev == 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAMEevaled' assert config.distro_tag == 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAMEevaled' assert config.release_tag == 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSIONevaled' assert config.anon_dev == 'https://alufr-ros-pkg.googlecode.com/svn/trunk/$STACK_NAMEevaled' assert config.anon_distro_tag == 'https://alufr-ros-pkg.googlecode.com/svn/tags/distros/$RELEASE_NAME/stacks/$STACK_NAMEevaled' assert config.anon_release_tag == 'https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/$STACK_NAME/$STACK_NAME-$STACK_VERSIONevaled' # test eq config_check = SvnConfig() config_check_eq = SvnConfig() config_check_neq = SvnConfig() config_check.load(rules, lambda x: x + 'evaled') config_check_eq.load(rules, lambda x: x + 'evaled') config_check_neq.load(anon_rules, lambda x: x + 'evaled') assert config_check == config_check_eq assert config_check != config_check_neq # load w anon rules config2 = SvnConfig() config.load(anon_rules, lambda x: x + 'evaled') config2.load(anon_rules, lambda x: x + 'evaled') for c in [config, config2]: assert c.anon_dev == 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunkevaled' assert c.anon_distro_tag == 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAMEevaled' assert c.anon_release_tag == 'http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSIONevaled' assert c.dev == 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunkevaled' assert c.distro_tag == 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAMEevaled' assert c.release_tag == 'https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSIONevaled' # test get_branch assert c.get_branch('devel', True) == ('http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunkevaled', None) assert c.get_branch('distro', True) == ('http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAMEevaled', None) assert c.get_branch('release', True) == ('http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSIONevaled', None) assert c.get_branch('devel', False) == ('https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/trunkevaled', None) assert c.get_branch('distro', False) == ('https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$RELEASE_NAMEevaled', None) assert c.get_branch('release', False) == ('https://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/$STACK_NAME/tags/$STACK_NAME-$STACK_VERSIONevaled', None) # get full coverage on get_branch() try: c.get_branch('fake', False) assert False except KeyError: pass # setup for coverage -- invalidate release branch rel_tag = c.release_tag c.release_tag = None try: assert c.get_branch('release', False) assert False except ValueError: pass c.release_tag = rel_tag def test_load_vcs_config(): from rospkg.distro import load_vcs_config, get_vcs_configs for t in ['svn', 'git', 'hg', 'bzr']: assert t in get_vcs_configs() config = load_vcs_config(default_rules[t], lambda x: x + 'evaled') assert config.type == t, t rospkg-1.2.3/test/test_rospkg_environment.py000066400000000000000000000147651360343013700213600ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. import os import tempfile def test_get_ros_root(): from rospkg import get_ros_root assert get_ros_root(env={}) is None env = {'ROS_ROOT': '/fake/path'} assert '/fake/path' == get_ros_root(env=env) real_ros_root = get_ros_root() if real_ros_root is not None: # make sure that ros root is a directory p = os.path.join(real_ros_root, 'Makefile') env = {'ROS_ROOT': p} assert p == get_ros_root(env=env) def test_get_ros_package_path(): from rospkg import get_ros_package_path assert get_ros_package_path(env={}) is None env = {'ROS_PACKAGE_PATH': ':'} assert ':' == get_ros_package_path(env=env) # trip-wire tests. Cannot guarantee that ROS_PACKAGE_PATH is set # to valid value on test machine, just make sure logic doesn't crash assert os.environ.get('ROS_PACKAGE_PATH', None) == get_ros_package_path() def test_get_log_dir(): from rospkg import get_log_dir, get_ros_root base = tempfile.gettempdir() ros_log_dir = os.path.join(base, 'ros_log_dir') ros_home_dir = os.path.join(base, 'ros_home_dir') home_dir = os.path.expanduser('~') # ROS_LOG_DIR has precedence env = {'ROS_ROOT': get_ros_root(), 'ROS_LOG_DIR': ros_log_dir, 'ROS_HOME': ros_home_dir} assert ros_log_dir == get_log_dir(env=env) env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir} assert os.path.join(ros_home_dir, 'log') == get_log_dir(env=env) env = {'ROS_ROOT': get_ros_root()} assert os.path.join(home_dir, '.ros', 'log') == get_log_dir(env=env) # test default assignment of env. Don't both checking return value as we would duplicate get_log_dir assert get_log_dir() is not None def test_get_test_results_dir(): from rospkg import get_ros_root, get_test_results_dir base = tempfile.gettempdir() ros_test_results_dir = os.path.join(base, 'ros_test_results_dir') ros_home_dir = os.path.join(base, 'ros_home_dir') home_dir = os.path.expanduser('~') # ROS_TEST_RESULTS_DIR has precedence env = {'ROS_ROOT': get_ros_root(), 'ROS_TEST_RESULTS_DIR': ros_test_results_dir, 'ROS_HOME': ros_home_dir} assert ros_test_results_dir == get_test_results_dir(env=env) env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir} assert os.path.join(ros_home_dir, 'test_results') == get_test_results_dir(env=env) env = {'ROS_ROOT': get_ros_root()} assert os.path.join(home_dir, '.ros', 'test_results') == get_test_results_dir(env=env) # test default assignment of env. Don't both checking return value as we would duplicate get_test_results_dir assert get_test_results_dir() is not None def test_get_ros_home(): from rospkg import get_ros_root, get_ros_home base = tempfile.gettempdir() ros_home_dir = os.path.join(base, 'ros_home_dir') home_dir = os.path.expanduser('~') # ROS_HOME has precedence env = {'ROS_ROOT': get_ros_root(), 'ROS_HOME': ros_home_dir} assert ros_home_dir == get_ros_home(env=env) env = {'ROS_ROOT': get_ros_root()} assert os.path.join(home_dir, '.ros') == get_ros_home(env=env) # test default assignment of env. Don't both checking return value assert get_ros_home() is not None def test_on_ros_path(): from rospkg import on_ros_path, get_ros_root, get_ros_package_path from rospkg.environment import _resolve_paths assert not on_ros_path(tempfile.gettempdir()) if get_ros_root() is not None: assert on_ros_path(get_ros_root()) if get_ros_package_path() is not None: paths = _resolve_paths(get_ros_package_path()).split(os.pathsep) for p in paths: assert on_ros_path(p), "failed: %s, [%s]" % (p, paths) def test_compute_package_paths(): from rospkg.environment import _compute_package_paths as compute_package_paths assert compute_package_paths(None, None) == [] assert compute_package_paths('foo', None) == ['foo'] assert compute_package_paths(None, 'bar') == ['bar'], compute_package_paths(None, 'bar') assert compute_package_paths('foo', '') == ['foo'] assert compute_package_paths('foo', 'bar') == ['foo', 'bar'] assert compute_package_paths('foo', 'bar:bz') == ['foo', 'bar', 'bz'] assert compute_package_paths('foo', 'bar:bz::blah') == ['foo', 'bar', 'bz', 'blah'] def test_resolve_path(): # mainly for coverage from rospkg.environment import _resolve_path assert os.path.expanduser('~') == _resolve_path('~') def test_get_etc_ros_dir(): from rospkg import get_etc_ros_dir from rospkg.environment import ROS_ETC_DIR base = tempfile.gettempdir() etc_ros_dir = os.path.join(base, 'etc_ros_dir') assert '/etc/ros' == get_etc_ros_dir(env={}) # ROS_ETC_DIR has precedence env = {ROS_ETC_DIR: etc_ros_dir} assert etc_ros_dir == get_etc_ros_dir(env=env), get_etc_ros_dir(env=env) # test default assignment of env. Don't both checking return value as we would duplicate get_etc_ros_dir assert get_etc_ros_dir() is not None rospkg-1.2.3/test/test_rospkg_manifest.py000066400000000000000000000217211360343013700206100ustar00rootroot00000000000000# -*- coding: utf-8 -*- # Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function import os def test_InvalidManifest(): from rospkg import InvalidManifest assert isinstance(InvalidManifest(), Exception) def test_Platform(): from rospkg.manifest import Platform for bad in [None, '']: try: Platform(bad, '1') assert False, "should have failed on [%s]" % bad except ValueError: pass try: Platform('ubuntu', bad) assert False, "should have failed on [%s]" % bad except ValueError: pass p = Platform('ubuntu', '8.04') assert 'ubuntu 8.04' == str(p) assert 'ubuntu 8.04' == repr(p) for v in [Platform('ubuntu', '8.04'), Platform('ubuntu', '8.04', notes=None)]: assert p == p for v in [Platform('ubuntu', '8.04', 'some notes'), 'foo', 1]: assert p != v # note: probably actually "osx" p = Platform('OS X', '10.6', 'macports') assert 'OS X 10.6' == str(p) assert 'OS X 10.6' == repr(p) for v in [p, Platform('OS X', '10.6', 'macports')]: assert p == p for v in [Platform('OS X', '10.6'), 'foo', 1]: assert p != v def test_Depend(): from rospkg.manifest import Depend for bad in [None, '']: try: Depend(bad, 'package') assert False, "should have failed on [%s]" % bad except ValueError: pass try: Depend('foo', bad) assert False, "should have failed on [%s]" % bad except ValueError: pass d = Depend('roslib', 'package') assert 'roslib' == str(d) assert 'roslib' == repr(d) assert d == Depend('roslib', 'package') for v in [Depend('roslib', 'stack'), Depend('roslib2', 'package'), 1]: assert d != v def _subtest_parse_example1(m): from rospkg.manifest import Manifest assert isinstance(m, Manifest) assert 'package' == m.type assert "a brief description" == m.brief assert "Line 1\nLine 2" == m.description.strip() assert u"The authors go here.\nutf-8 test: ÄÖÜ" == m.author.strip() assert "Public Domain\nwith other stuff" == m.license.strip() assert "http://pr.willowgarage.com/package/" == m.url for d in m.depends: assert 'package' == d.type dpkgs = [d.name for d in m.depends] assert set(['pkgname', 'common']) == set(dpkgs) rdpkgs = [d.name for d in m.rosdeps] assert set(['python', 'bar', 'baz']) == set(rdpkgs) for p in m.platforms: if p.os == 'ubuntu': assert "8.04" == p.version assert '' == p.notes elif p.os == 'OS X': assert "10.6" == p.version assert "macports" == p.notes else: assert False, "unknown platform " + str(p) def _subtest_parse_stack_example1(m): from rospkg.manifest import Manifest assert isinstance(m, Manifest) assert 'stack' == m.type assert "a brief description" == m.brief assert "Line 1\nLine 2" == m.description.strip() assert "The authors\ngo here" == m.author.strip() assert "Public Domain\nwith other stuff" == m.license.strip() assert "http://ros.org/stack/" == m.url for d in m.depends: assert 'stack' == d.type dpkgs = [d.name for d in m.depends] assert set(['stackname', 'common']) == set(dpkgs) assert [] == m.rosdeps assert [] == m.exports def _subtest_parse_stack_version(m): assert "1.2.3" == m.version def get_test_dir(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'manifest')) def test_is_catkin(): from rospkg.manifest import MANIFEST_FILE, parse_manifest_file d = get_test_dir() m = parse_manifest_file(os.path.join(d, 'catkin'), MANIFEST_FILE) assert m.is_catkin m = parse_manifest_file(os.path.join(d, 'example1'), MANIFEST_FILE) assert not m.is_catkin def test_parse_manifest_file(): from rospkg.manifest import parse_manifest_file, MANIFEST_FILE, STACK_FILE d = get_test_dir() m = parse_manifest_file(os.path.join(d, 'example1'), MANIFEST_FILE) _subtest_parse_example1(m) m = parse_manifest_file(os.path.join(d, 'stack_example1'), STACK_FILE) _subtest_parse_stack_example1(m) m = parse_manifest_file(os.path.join(d, 'stack_version'), STACK_FILE) _subtest_parse_stack_version(m) def test_parse_manifest(): # test_parse_manifest_file is more thorough; just want to make sure we have one call to lower-level API from rospkg.manifest import MANIFEST_FILE, parse_manifest d = get_test_dir() p = os.path.join(d, 'example1', MANIFEST_FILE) with open(p, 'r') as f: contents = f.read() _subtest_parse_example1(parse_manifest(MANIFEST_FILE, contents, p)) def test__Manifest(): from rospkg.manifest import Manifest m = Manifest() # check defaults assert 'package' == m.type m = Manifest('package') assert 'package' == m.type m = Manifest('stack') assert 'stack' == m.type # tripwire, no defined value str(m) repr(m) # bad file examples should be more like the roslaunch tests where there is just 1 thing wrong def test_parse_bad_file(): from rospkg.manifest import parse_manifest, InvalidManifest, MANIFEST_FILE base_p = get_test_dir() for b in ['bad1.xml', 'bad2.xml', 'bad3.xml']: p = os.path.join(base_p, b) with open(p, 'r') as f: contents = f.read() try: parse_manifest(MANIFEST_FILE, contents, filename=p) assert False, "parse should have failed on bad manifest" except InvalidManifest as e: print(str(e)) assert p in str(e), "file name [%s] should be in error message [%s]" % (p, str(e)) EXAMPLE1 = u""" Line 1 Line 2 The authors go here. utf-8 test: ÄÖÜ Public Domain with other stuff http://pr.willowgarage.com/package/ http://www.willowgarage.com/files/willowgarage/robot10.jpg """ STACK_EXAMPLE1 = """ Line 1 Line 2 The authors go here Public Domain with other stuff http://ros.org/stack/ http://www.willowgarage.com/files/willowgarage/robot10.jpg """ STACK_INVALID1 = """ Line 1 The authors Public Domain """ STACK_INVALID2 = """ Line 1 The authors Public Domain """ rospkg-1.2.3/test/test_rospkg_os_detect.py000066400000000000000000000457751360343013700207720ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2009, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import absolute_import import os import mock from mock import patch class TrueOs(): def is_os(self): return True def get_version(self): return "os_version" def get_codename(self): return "os_codename" class TrueOs2(): def is_os(self): return True def get_version(self): return "os_version" def get_codename(self): return "os_codename" class FalseOs(object): def is_os(self): return False def get_version(self): return "os_version2" def get_codename(self): return "os_codename" def test__read_stdout(): from rospkg.os_detect import _read_stdout assert 'hello' == _read_stdout(['echo', 'hello']) assert _read_stdout(['bad-command-input-for-rospkg-os-detect']) is None def test_tripwire_ubuntu(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('ubuntu') def test_LsbDetect(): from rospkg.os_detect import LsbDetect, OsNotDetected # test non-match detect = LsbDetect('bad') assert not detect.is_os() try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass # test match # to be removed after Ubuntu Xenial is out of support import sys if sys.version_info >= (3, 8): import distro else: import platform as distro distro.linux_distribution = mock.Mock() distro.linux_distribution.return_value = ('Ubuntu', '10.04', 'lucid') distro.dist = mock.Mock() distro.dist.return_value = ('Ubuntu', '10.04', 'lucid') detect = LsbDetect('Ubuntu') assert detect.is_os(), "should be Ubuntu" assert detect.get_codename() == 'lucid', detect.get_codename() # test freely if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass def test_ubuntu(): from rospkg.os_detect import OsDetect, OsNotDetected os_detector = OsDetect() detect = os_detector.get_detector('ubuntu') detect.lsb_info = ('Ubuntu', '10.04', 'lucid') assert detect.get_version() == '10.04', detect.get_version() assert detect.get_codename() == 'lucid', detect.get_codename() # test freely if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass def test_tripwire_debian(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('debian') def test_tripwire_osx(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('osx') def test_osx(): if 'posix' != os.name: from unittest.case import SkipTest raise SkipTest('Test requires POSIX platform, not "{}"'.format(os.name)) from rospkg.os_detect import OSX, _osx_codename, OsNotDetected test_dir = os.path.join(get_test_dir(), 'osx') detect = OSX(os.path.join(test_dir, "sw_vers")) assert detect.is_os() assert detect.get_codename() == 'snow' assert detect.get_version() == '10.6.5', detect.get_version() # trigger bad version number detect detect = OSX(os.path.join(test_dir, "sw_vers_bad")) assert detect.is_os() try: detect.get_codename() assert False except OsNotDetected: pass # regression test codename mapping assert 'lion' == _osx_codename(10, 7) try: _osx_codename(9, 7) assert False except OsNotDetected: pass def test_osx_patched(): from rospkg.os_detect import OSX, OsNotDetected @patch.object(OSX, 'is_os') def test(mock): mock.return_value = False detect = OSX() try: detect.get_codename() assert False except OsNotDetected: pass try: detect.get_version() assert False except OsNotDetected: pass test() def test_tripwire_arch(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('arch') def test_arch(): from rospkg.os_detect import Arch, OsNotDetected test_dir = os.path.join(get_test_dir(), 'arch') detect = Arch(os.path.join(test_dir, "arch-release")) assert detect.is_os() assert detect.get_version() == '' detect = Arch() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass @patch.object(Arch, 'is_os') def test(mock): mock.is_os.return_value = True detect = Arch() assert detect.get_version() == '' assert detect.get_codename() == '' test() def test_tripwire_manjaro(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('manjaro') def test_manjaro(): from rospkg.os_detect import Manjaro, OsNotDetected test_dir = os.path.join(get_test_dir(), 'manjaro') detect = Manjaro(os.path.join(test_dir, "manjaro-release")) assert detect.is_os() assert detect.get_version() == '' detect = Manjaro() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass @patch.object(Manjaro, 'is_os') def test(mock): mock.is_os.return_value = True detect = Manjaro() assert detect.get_version() == '' assert detect.get_codename() == '' test() def test_tripwire_opensuse(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('opensuse') def test_opensuse(): from rospkg.os_detect import OpenSuse, OsNotDetected test_dir = os.path.join(get_test_dir(), 'opensuse') detect = OpenSuse(os.path.join(test_dir, "SuSE-brand")) assert detect.is_os() assert detect.get_version() == '11.2' detect = OpenSuse() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass def test_opensuse13(): from rospkg.os_detect import OpenSuse, OsNotDetected test_dir = os.path.join(get_test_dir(), 'opensuse13') detect = OpenSuse(os.path.join(test_dir, "SUSE-brand")) assert detect.is_os() assert detect.get_version() == '13.1' detect = OpenSuse() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass def test_tripwire_gentoo(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('gentoo') def test_gentoo(): from rospkg.os_detect import Gentoo, OsNotDetected test_dir = os.path.join(get_test_dir(), 'gentoo') detect = Gentoo(os.path.join(test_dir, "gentoo-release")) assert detect.is_os() assert detect.get_version() == '2.0.1' assert detect.get_codename() == '' # test freely detect = Gentoo() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass def test_tripwire_fedora(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('fedora') def get_test_dir(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'os_detect')) def test_fedora(): from rospkg.os_detect import Fedora, OsNotDetected test_dir = os.path.join(get_test_dir(), 'fedora') release_file, issue_file = [os.path.join(test_dir, x) for x in ["redhat-release", "issue"]] detect = Fedora(release_file, issue_file) assert detect.is_os() assert detect.get_version() == '1' assert detect.get_codename() == 'bordeaux', detect.get_codename() detect = Fedora() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass def test_read_issue(): from rospkg.os_detect import read_issue assert read_issue('/fake/file') is None test_dir = os.path.join(get_test_dir(), 'rhel') assert read_issue(os.path.join(test_dir, 'issue')) == \ ['Red', 'Hat', 'Enterprise', 'Linux', 'AS', 'release', '3', '(Taroon)'] def test_OsDetector(): from rospkg.os_detect import OsDetector d = OsDetector() try: d.is_os() assert False except NotImplementedError: pass try: d.get_version() assert False except NotImplementedError: pass try: d.get_codename() assert False except NotImplementedError: pass def test_tripwire_uname_get_machine(): from rospkg.os_detect import uname_get_machine retval = uname_get_machine() assert retval in [None, 'aarch64', 'armv7l', 'i386', 'i686', 'ppc', 'ppc64', 'ppc64le', 's390', 's390x', 'x86_64'] def test_tripwire_rhel(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('rhel') def test_redhat(): from rospkg.os_detect import Rhel, OsNotDetected test_dir = os.path.join(get_test_dir(), 'rhel') # go through several test files detect = Rhel(os.path.join(test_dir, "redhat-release")) assert detect.is_os() assert detect.get_version() == '3' assert detect.get_codename() == 'taroon' detect = Rhel(os.path.join(test_dir, "redhat-release-tikanga")) assert detect.is_os() assert detect.get_version() == '5' assert detect.get_codename() == 'tikanga' detect = Rhel(os.path.join(test_dir, "redhat-release-nahant")) assert detect.is_os() assert detect.get_version() == '4' assert detect.get_codename() == 'nahant' # test freely detect = Rhel() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass def test_tripwire_slackware(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('slackware') def test_slackware(): from rospkg.os_detect import Slackware, OsNotDetected test_dir = os.path.join(get_test_dir(), 'slackware') detect = Slackware(os.path.join(test_dir, "slackware-version")) assert detect.is_os() assert detect.get_version() == '14.2' assert detect.get_codename() == '' # test freely detect = Slackware() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass def test_tripwire_freebsd(): from rospkg.os_detect import OsDetect os_detect = OsDetect() os_detect.get_detector('freebsd') def test_freebsd(): from rospkg.os_detect import FreeBSD, OsNotDetected # TODO if 0: test_dir = os.path.join(get_test_dir(), 'freebsd') release_file, issue_file = [os.path.join(test_dir, x) for x in ["redhat-release", "issue"]] detect = FreeBSD(release_file, issue_file) assert detect.is_os() assert detect.get_version() == '3' # test freely detect = FreeBSD() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass # assure failure detect = FreeBSD("/fake/uname/file") assert not detect.is_os() try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass @patch.object(FreeBSD, 'is_os') def test(mock): mock.is_os.return_value = True detect = FreeBSD() assert detect.get_codename() == '' test() def test_cygwin(): from rospkg.os_detect import Cygwin, OsNotDetected # TODO detect = Cygwin() if not detect.is_os(): try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_codename() assert False except OsNotDetected: pass @patch.object(Cygwin, 'is_os') def test(mock): mock.is_os.return_value = True detect = Cygwin() assert detect.get_codename() == '' test() def test_OsDetect(): from rospkg.os_detect import OsDetect detect = OsDetect() try: detect.get_detector('fake') assert False, "should raise" except KeyError: pass def test_OsDetect_ROS_OVERRIDE(): from rospkg.os_detect import OsDetect detect = OsDetect([('TrueOs', TrueOs())]) env = {'ROS_OS_OVERRIDE': 'arch'} assert detect.detect_os(env=env) == ('arch', '', ''), \ detect.detect_os(env=env) env = {'ROS_OS_OVERRIDE': 'fubuntu:04.10'} assert detect.detect_os(env=env) == ('fubuntu', '04.10', '') env = {'ROS_OS_OVERRIDE': 'fubuntu:04.10:opaque'} assert detect.detect_os(env=env) == ('fubuntu', '04.10', 'opaque') def test_OsDetect_single(): # test each method twice with new instance b/c of caching from rospkg.os_detect import OsDetect detect = OsDetect([('TrueOs', TrueOs())]) assert "TrueOs" == detect.get_name() assert "TrueOs" == detect.get_name() detect = OsDetect([('TrueOs', TrueOs())]) assert "os_version" == detect.get_version() assert "os_version" == detect.get_version() detect = OsDetect([('TrueOs', TrueOs())]) assert "os_codename" == detect.get_codename() assert "os_codename" == detect.get_codename() detect = OsDetect([('TrueOs', TrueOs())]) assert isinstance(detect.get_detector(), TrueOs) assert isinstance(detect.get_detector('TrueOs'), TrueOs) def test_OsDetect_register_default_add_detector(): # test behavior of register_default and add_detector. Both take # precedence over previous detectors, but at different scopes. from rospkg.os_detect import OsDetect o1 = TrueOs() o2 = TrueOs2() key = 'TrueOs' detect = OsDetect([(key, o1)]) assert detect.get_detector(key) == o1 detect.register_default(key, o2) assert detect.get_detector(key) == o1 detect.add_detector(key, o2) assert detect.get_detector(key) == o2 detect = OsDetect() assert detect.get_detector(key) == o2 detect.add_detector(key, o1) assert detect.get_detector(key) == o1 # restore precendence of o1 in default list detect.register_default(key, o1) detect = OsDetect() assert detect.get_detector(key) == o1 def test_OsDetect_nomatch(): from rospkg.os_detect import OsDetect, OsNotDetected detect = OsDetect([('Dummy', FalseOs())]) assert isinstance(detect.get_detector('Dummy'), FalseOs) try: detect.get_name() assert False except OsNotDetected: pass try: detect.get_version() assert False except OsNotDetected: pass try: detect.get_detector() assert False except OsNotDetected: pass def xTrueOsDetect_first_of_two(): osa = roslib.os_detect.OSDetect([TrueOs(), FalseOs()]) assert "os_name" == osa.get_name() assert "os_version" == osa.get_version() os_class = osa.get_os() assert "os_name" == os_class.get_name() assert "os_version" == os_class.get_version() def xTrueOsDetect_second_of_two(): osa = roslib.os_detect.OSDetect([FalseOs(), TrueOs()]) assert "os_name", osa.get_name() assert "os_version", osa.get_version() os_class = osa.get_os() assert "os_name" == os_class.get_name() assert "os_version" == os_class.get_version() def xTrueOsDetect_first_of_many(): osa = roslib.os_detect.OSDetect([TrueOs(), FalseOs(), FalseOs(), FalseOs(), FalseOs()]) assert "os_name" == osa.get_name() assert "os_version" == osa.get_version() os_class = osa.get_os() assert "os_name" == os_class.get_name() assert "os_version" == os_class.get_version() def xTrueOsDetect_second_of_many(): osa = roslib.os_detect.OSDetect([FalseOs(), TrueOs(), FalseOs(), FalseOs(), FalseOs()]) assert "os_name" == osa.get_name() assert "os_version" == osa.get_version() os_class = osa.get_os() assert "os_name" == os_class.get_name() assert "os_version" == os_class.get_version() def xTrueOsDetect_last_of_many(): osa = roslib.os_detect.OSDetect([FalseOs(), FalseOs(), FalseOs(), FalseOs(), TrueOs()]) assert "os_name", osa.get_name() assert "os_version", osa.get_version() os_class = osa.get_os() assert "os_name" == os_class.get_name() assert "os_version" == os_class.get_version() def xtest_ubuntu_in_OSA(): ubuntu = roslib.os_detect.Ubuntu() def return_true(): return True ubuntu.check_presence = return_true osa = roslib.os_detect.OSDetect([ubuntu]) assert "ubuntu" == ubuntu.get_name() os_class = osa.get_os() assert "ubuntu" == os_class.get_name() rospkg-1.2.3/test/test_rospkg_packages.py000066400000000000000000000313651360343013700205650ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function import os import subprocess import tempfile def get_package_test_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'package_tests')) def test_ManifestManager_constructor(): from rospkg import RosPack, RosStack, get_ros_paths r = RosPack() assert r._manifest_name == 'manifest.xml' r = RosStack() assert r._manifest_name == 'stack.xml' for c in [RosPack, RosStack]: r = c() assert r.ros_paths == get_ros_paths() tmp = tempfile.gettempdir() r = c(ros_paths=[tmp]) assert r.ros_paths == [tmp] # make sure we can't accidentally mutate the actual data r.ros_paths.append('foo') assert r.ros_paths == [tmp] def test_ManifestManager_get_instance(): from rospkg import RosPack, RosStack, get_ros_paths for c in [RosPack, RosStack]: # make sure we get the same instance for defaults ros_paths r1 = c.get_instance() assert r1.ros_paths == get_ros_paths() r2 = c.get_instance() assert r1 is r2 # make sure we get the same instance for identical custom ros_paths tmp = tempfile.gettempdir() r3 = c.get_instance(ros_paths=[tmp]) assert r3.ros_paths == [tmp] r4 = c.get_instance(ros_paths=[tmp]) assert r3 is r4 # make sure for different ros_paths we got different instances assert r1 is not r3 def rospackexec(args): rospack_bin = 'rospack' val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() if val.startswith('rospack:'): # rospack error message raise Exception(val) return val # for comparing against 'ground truth' def rospack_list(): return [s.strip() for s in rospackexec(['list-names']).split('\n') if s.strip()] def rospack_find(package): return rospackexec(['find', package]).strip() def rospack_depends(package): return unicode(rospackexec(['depends', package])).split() def rospack_depends1(package): return unicode(rospackexec(['depends1', package])).split() def rospack_depends_on(package): return unicode(rospackexec(['depends-on', package])).split() def rospack_depends_on1(package): return unicode(rospackexec(['depends-on1', package])).split() def delete_cache(): from rospkg import get_ros_home p = os.path.join(get_ros_home(), 'rospack_cache') if os.path.exists(p): os.remove(p) def rospack_is_available(): try: rospackexec(['-h']) return True except: return False def test_RosPack_list(): from rospkg import RosPack, get_ros_root if get_ros_root() is not None and rospack_is_available(): r = RosPack() pkgs = rospack_list() retval = r.list() assert set(pkgs) == set(retval), "%s vs %s" % (pkgs, retval) # test twice for caching retval = r.list() assert set(pkgs) == set(retval), "%s vs %s" % (pkgs, retval) # make sure stress test works with rospack_cache invalidated delete_cache() r = RosPack() retval = r.list() assert set(pkgs) == set(retval), "%s vs %s" % (pkgs, retval) def test_RosPack_no_env(): # regression test for #3680 from rospkg import RosPack, ResourceNotFound try: environ_copy = os.environ.copy() if 'ROS_ROOT' in os.environ: del os.environ['ROS_ROOT'] if 'ROS_PACKAGE_PATH' in os.environ: del os.environ['ROS_PACKAGE_PATH'] r = RosPack() try: r.get_depends('roscpp') assert False, "should have raised" except ResourceNotFound: pass finally: os.environ.clear() os.environ.update(environ_copy) def test_RosPack_get_path(): from rospkg import RosPack, ResourceNotFound, get_ros_root path = get_package_test_path() foo_path = os.path.join(path, 'p1', 'foo') foo_path_alt = os.path.join(path, 'p2', 'foo') bar_path = os.path.join(path, 'p1', 'bar') baz_path = os.path.join(path, 'p2', 'baz') # point ROS_ROOT at top, should spider entire tree print("ROS path: %s" % (path)) r = RosPack(ros_paths=[path]) # precedence in this case is undefined as there are two 'foo's in the same path assert r.get_path('foo') in [foo_path, foo_path_alt] assert bar_path == r.get_path('bar') assert baz_path == r.get_path('baz') try: r.get_path('fake') assert False except ResourceNotFound: pass # divide tree in half to test precedence print("ROS_PATH 1: %s" % (os.path.join(path, 'p1'))) print("ROS_PATH 2: %s" % (os.path.join(path, 'p2'))) r = RosPack(ros_paths=[os.path.join(path, 'p1'), os.path.join(path, 'p2')]) assert foo_path == r.get_path('foo'), "%s vs. %s" % (foo_path, r.get_path('foo')) assert bar_path == r.get_path('bar') assert baz_path == r.get_path('baz') if get_ros_root() and rospack_is_available(): # stresstest against rospack r = RosPack() for p in rospack_list(): retval = r.get_path(p) rospackval = rospack_find(p) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def test_RosPackage_get_depends(): from rospkg import RosPack, ResourceNotFound, get_ros_root path = get_package_test_path() r = RosPack(ros_paths=[path]) # test on multiple calls to bad package -- there was an ordering # issue in the logic that caused get_depends() to return an empty # set on the second call. for i in range(1, 4): try: r.get_depends('bad', implicit=True) assert False, "should have raised" except ResourceNotFound: pass # TODO: need one more step assert set(r.get_depends('baz')) == set(['foo', 'bar']) assert r.get_depends('bar') == ['foo'] assert r.get_depends('foo') == [] if get_ros_root() and rospack_is_available(): # stress test: test default environment against rospack r = RosPack() for p in rospack_list(): retval = set(r.get_depends(p)) rospackval = set(rospack_depends(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def get_stack_test_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'stack_tests')) def test_stack_of(): from rospkg import RosPack, ResourceNotFound path = os.path.join(get_stack_test_path(), 's1') r = RosPack(ros_paths=[path]) # test with actual stacks assert r.stack_of('foo_pkg') == 'foo' assert r.stack_of('foo_pkg_2') == 'foo' assert r.stack_of('bar_pkg') == 'bar' try: r.stack_of('fake') assert False, "should have raised ResourceNotFound" except ResourceNotFound: pass path = os.path.join(get_package_test_path(), 'p1') r = RosPack(ros_paths=[path]) # test with actual not stacked-packages assert r.stack_of('foo') is None def test_RosPackage_get_depends_explicit(): from rospkg import RosPack, get_ros_root path = get_package_test_path() r = RosPack(ros_paths=[path]) implicit = False assert set(r.get_depends('baz', implicit)) == set(['bar', 'foo']) assert r.get_depends('bar', implicit) == ['foo'] assert r.get_depends('foo', implicit) == [] if get_ros_root() and rospack_is_available(): # stress test: test default environment against rospack r = RosPack() for p in rospack_list(): retval = set(r.get_depends(p, implicit)) rospackval = set(rospack_depends1(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def test_RosPack_get_rosdeps(): from rospkg import RosPack path = get_package_test_path() r = RosPack(ros_paths=[os.path.join(path, 'p1'), os.path.join(path, 'p2')]) # repeat tests due to caching assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3']) == set(r.get_rosdeps('foo', implicit=True)), r.get_rosdeps('foo', implicit=True) assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3']) == set(r.get_rosdeps('foo', implicit=True)) assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3']) == set(r.get_rosdeps('foo', implicit=False)) assert set(['bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('bar', implicit=False)) assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('bar', implicit=True)) assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('bar', implicit=True)) assert set(['foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('bar')) assert ['baz_rosdep1'] == r.get_rosdeps('baz', implicit=False) assert set(['baz_rosdep1', 'foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('baz')) assert set(['baz_rosdep1', 'foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('baz')) # create a brand new instance to test with brand new cache r = RosPack(ros_paths=[os.path.join(path, 'p1'), os.path.join(path, 'p2')]) assert set(['baz_rosdep1', 'foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('baz')) assert set(['baz_rosdep1', 'foo_rosdep1', 'foo_rosdep2', 'foo_rosdep3', 'bar_rosdep1', 'bar_rosdep2']) == set(r.get_rosdeps('baz')) def test_get_package_name(): from rospkg import __version__ from rospkg import get_package_name # test dir is a subdirectory of this package test_dir = get_package_test_path() assert get_package_name(test_dir) in ['rospkg', 'rospkg-%s' % __version__], get_package_name(test_dir) test_dir_foo = os.path.join(test_dir, 'p1', 'foo') assert 'foo' == get_package_name(test_dir_foo) # test with path outside of our hierarchy assert get_package_name(tempfile.tempdir) is None def test_get_depends_on(): from rospkg import RosPack, get_ros_root test_dir = get_package_test_path() rp = RosPack(ros_paths=[test_dir]) # test direct depends val = rp.get_depends_on('foo', implicit=False) assert set(['bar', 'baz']) == set(val), val val = rp.get_depends_on('bar', implicit=False) assert ['baz'] == val, val val = rp.get_depends_on('baz', implicit=False) assert [] == val, val # test implicit depends val = rp.get_depends_on('foo', implicit=True) assert set(['bar', 'baz']) == set(val), val val = rp.get_depends_on('bar', implicit=True) assert ['baz'] == val, val val = rp.get_depends_on('baz', implicit=True) assert [] == val, val if get_ros_root() and rospack_is_available(): # stress test: test default environment against rospack r = RosPack() for p in rospack_list(): retval = set(r.get_depends_on(p, False)) rospackval = set(rospack_depends_on1(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) for p in rospack_list(): retval = set(r.get_depends_on(p, True)) rospackval = set(rospack_depends_on(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) rospkg-1.2.3/test/test_rospkg_stacks.py000066400000000000000000000242511360343013700202730ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2011, 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 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 INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. from __future__ import print_function import os import subprocess def get_stack_test_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'stack_tests')) def get_unary_test_path(): return os.path.abspath(os.path.join(os.path.dirname(__file__), 'unary_tests')) def rosstackexec(args): rosstack_bin = 'rosstack' val = subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=os.environ).communicate() val = val[0].strip() if val.startswith('rosstack:'): # rosstack error message raise Exception(val) return val def rosstack_is_available(): try: rosstackexec(['-h']) return True except: return False # for comparing against 'ground truth' def rosstack_list(): return [s.strip() for s in rosstackexec(['list-names']).split('\n') if s.strip()] def rosstack_find(package): return rosstackexec(['find', package]).strip() def rosstack_depends(package): return unicode(rosstackexec(['depends', package])).split() def rosstack_depends1(package): return unicode(rosstackexec(['depends1', package])).split() def delete_cache(): from rospkg import get_ros_home p = os.path.join(get_ros_home(), 'rosstack_cache') if os.path.exists(p): os.remove(p) def test_RosStack_list(): from rospkg import get_ros_paths, RosStack print("ROS paths", get_ros_paths()) if get_ros_paths() is not None and rosstack_is_available(): r = RosStack() l = rosstack_list() retval = r.list() assert set(l) == set(retval), "%s vs %s" % (l, retval) # test twice for caching retval = r.list() assert set(l) == set(retval), "%s vs %s" % (l, retval) # make sure stress test works with rospack_cache invalidated delete_cache() r = RosStack() retval = r.list() assert set(l) == set(retval), "%s vs %s" % (l, retval) def test_RosStack_get_path(): from rospkg import RosStack, ResourceNotFound, get_ros_paths path = get_stack_test_path() bar_path = os.path.join(path, 's1', 'bar') baz_path = os.path.join(path, 's2', 'baz') # point ROS_ROOT at top, should spider entire tree print("ROS_PATHS: %s" % str([path])) print("ROS_PACKAGE_PATH: ") r = RosStack(ros_paths=[path]) assert bar_path == r.get_path('bar'), "%s vs. %s" % (bar_path, r.get_path('bar')) try: r.get_path('fake') assert False except ResourceNotFound: pass # divide tree in half to test precedence print("ROS PATH 1: %s" % (os.path.join(path, 'p1'))) print("ROS PATH 2: %s" % (os.path.join(path, 'p2'))) foo_path = os.path.join(path, 's1', 'foo') r = RosStack(ros_paths=[os.path.join(path, 's1'), os.path.join(path, 's2')]) assert foo_path == r.get_path('foo'), "%s vs. %s" % (foo_path, r.get_path('foo')) assert bar_path == r.get_path('bar') assert baz_path == r.get_path('baz') # divide tree in half again and test precedence of ROS_PACKAGE_PATH (foo should switch) print("ROS_ROOT: %s" % (os.path.join(path, 'p1'))) print("ROS_PACKAGE_PATH: %s" % (os.path.join(path, 'p2'))) foo_path = os.path.join(path, 's2', 'foo') ros_paths = [os.path.join(path, 'notapath'), os.path.join(path, 's2'), os.path.join(path, 's1')] r = RosStack(ros_paths=ros_paths) assert foo_path == r.get_path('foo'), "%s vs. %s" % (foo_path, r.get_path('foo')) if get_ros_paths() and rosstack_is_available(): # stresstest against rospack r = RosStack() listval = rosstack_list() for p in listval: retval = r.get_path(p) rospackval = rosstack_find(p) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) # stresstest with cache invalidated delete_cache() r = RosStack() for p in listval: retval = r.get_path(p) rospackval = rosstack_find(p) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def test_RosStack_get_depends(): from rospkg import get_ros_paths, RosStack path = get_stack_test_path() s1 = os.path.join(path, 's1') s3 = os.path.join(path, 's3') r = RosStack(ros_paths=[s1, s3]) # TODO: need one more step assert set(r.get_depends('baz')) == set(['foo', 'bar']) assert r.get_depends('bar') == ['foo'] assert r.get_depends('foo') == [] if get_ros_paths() and rosstack_is_available(): # stress test: test default environment against rosstack r = RosStack() for p in rosstack_list(): retval = set(r.get_depends(p)) rospackval = set(rosstack_depends(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def test_RosStack_get_depends_explicit(): from rospkg import get_ros_paths, RosStack path = get_stack_test_path() s1 = os.path.join(path, 's1') s3 = os.path.join(path, 's3') r = RosStack(ros_paths=[s1, s3]) implicit = False assert set(r.get_depends('baz', implicit)) == set(['bar', 'foo']) assert r.get_depends('bar', implicit) == ['foo'] assert r.get_depends('foo', implicit) == [] # stress test: test default environment against rospack if get_ros_paths() and rosstack_is_available(): r = RosStack() for p in rosstack_list(): retval = set(r.get_depends(p, implicit)) rospackval = set(rosstack_depends1(p)) assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval, rospackval) def test_expand_to_packages(): from rospkg import expand_to_packages, RosPack, RosStack path = os.path.join(get_stack_test_path(), 's1') rospack = RosPack(ros_paths=[path]) rosstack = RosStack(ros_paths=[path]) try: expand_to_packages('foo', rospack, rosstack) assert False, "should have raised ValueError" except ValueError: pass valid, invalid = expand_to_packages(['foo'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2']) assert not invalid valid, invalid = expand_to_packages(['foo_pkg'], rospack, rosstack) assert set(valid) == set(['foo_pkg']) assert not invalid valid, invalid = expand_to_packages(['foo', 'foo_pkg'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2']) assert not invalid valid, invalid = expand_to_packages(['foo', 'bar'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg']) assert not invalid valid, invalid = expand_to_packages(['foo', 'bar_pkg'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg']) assert not invalid valid, invalid = expand_to_packages(['foo', 'bar_pkg', 'bar'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg']) assert not invalid valid, invalid = expand_to_packages(['foo', 'fake1', 'bar_pkg', 'bar', 'fake2'], rospack, rosstack) assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg']) assert set(invalid) == set(['fake1', 'fake2']) def test_get_stack_version(): from rospkg import get_stack_version_by_dir, RosStack path = os.path.join(get_stack_test_path(), 's1') r = RosStack(ros_paths=[path]) # test by dir option directly foo_dir = r.get_path('foo') assert get_stack_version_by_dir(foo_dir) == '1.6.0-manifest' bar_dir = r.get_path('bar') assert get_stack_version_by_dir(bar_dir) == '1.5.0-cmake' # test via rosstack assert r.get_stack_version('foo') == '1.6.0-manifest' assert r.get_stack_version('bar') == '1.5.0-cmake' path = os.path.join(get_stack_test_path(), 's2') r = RosStack(ros_paths=[path]) foo_dir = r.get_path('foo') assert get_stack_version_by_dir(foo_dir) is None, get_stack_version_by_dir(foo_dir) # test reading from stack.yaml baz_dir = r.get_path('baz') assert get_stack_version_by_dir(baz_dir) == '1-manifest', get_stack_version_by_dir(baz_dir) assert r.get_stack_version('baz') == '1-manifest' def test_get_cmake_version(): from rospkg.rospack import _get_cmake_version assert '1.6.0' == _get_cmake_version("rosbuild_make_distribution(1.6.0)") try: _get_cmake_version("rosbuild_make_distribution") assert False, "should have raised ValueError" except ValueError: pass def test_unary(): from rospkg import RosStack, RosPack path = get_unary_test_path() rospack = RosPack(ros_paths=[path]) rosstack = RosStack(ros_paths=[path]) assert rospack.get_path('unary') == rosstack.get_path('unary') assert rosstack.packages_of('unary') == ['unary'] assert rospack.stack_of('unary') == 'unary' rospkg-1.2.3/test/unary_tests/000077500000000000000000000000001360343013700163615ustar00rootroot00000000000000rospkg-1.2.3/test/unary_tests/unary/000077500000000000000000000000001360343013700175175ustar00rootroot00000000000000rospkg-1.2.3/test/unary_tests/unary/manifest.xml000066400000000000000000000003331360343013700220460ustar00rootroot00000000000000 unary Ken Conley BSD http://ros.org/wiki/unary rospkg-1.2.3/test/unary_tests/unary/stack.xml000066400000000000000000000002041360343013700213420ustar00rootroot00000000000000 unary Ken Conley BSD