/usr/lib/python2.7/dist-packages/roslib/launcher.py is in python-roslib 1.13.4-2.
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# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
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# 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
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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"""
Python path loader for python scripts and applications. Paths are
derived from dependency structure declared in ROS manifest files.
"""
import os
import sys
import rospkg
# bootstrapped keeps track of which packages we've loaded so we don't
# update the path multiple times
_bootstrapped = []
# _rospack is our cache of ROS package data
_rospack = rospkg.RosPack()
def get_depends(package, rospack):
vals = rospack.get_depends(package, implicit=True)
return [v for v in vals if not rospack.get_manifest(v).is_catkin]
def load_manifest(package_name, bootstrap_version="0.7"):
"""
Update the Python sys.path with package's dependencies
:param package_name: name of the package that load_manifest() is being called from, ``str``
"""
if package_name in _bootstrapped:
return
sys.path = _generate_python_path(package_name, _rospack) + sys.path
def _append_package_paths(manifest_, paths, pkg_dir):
"""
Added paths for package to paths
:param manifest_: package manifest, ``Manifest``
:param pkg_dir: package's filesystem directory path, ``str``
:param paths: list of paths, ``[str]``
"""
exports = manifest_.get_export('python','path')
if exports:
for export in exports:
if ':' in export:
export = export.split(':')
else:
export = [export]
for e in export:
paths.append(e.replace('${prefix}', pkg_dir))
else:
dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']]
paths.extend([d for d in dirs if os.path.isdir(d)])
def _generate_python_path(pkg, rospack):
"""
Recursive subroutine for building dependency list and python path
:raises: :exc:`rospkg.ResourceNotFound` If an error occurs while attempting to load package or dependencies
"""
if pkg in _bootstrapped:
return []
# short-circuit if this is a catkin-ized package
m = rospack.get_manifest(pkg)
if m.is_catkin:
_bootstrapped.append(pkg)
return []
packages = get_depends(pkg, rospack)
packages.append(pkg)
paths = []
try:
for p in packages:
m = rospack.get_manifest(p)
d = rospack.get_path(p)
_append_package_paths(m, paths, d)
_bootstrapped.append(p)
except:
if pkg in _bootstrapped:
_bootstrapped.remove(pkg)
raise
return paths
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