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Migration to ROS2 #20

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Migration to ROS2 #20

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6a6e13f
Conversion to ROS2 package
pryre Sep 7, 2024
c78b457
Additional files
pryre Sep 7, 2024
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22 changes: 0 additions & 22 deletions CMakeLists.txt
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21 changes: 7 additions & 14 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,24 +18,17 @@
<author>Dirk Thomas</author>
<author>Thibault Kruse</author>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>

<exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
<exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
<exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
<exec_depend>qt_dotgraph</exec_depend>
<exec_depend>qt_gui</exec_depend>
<exec_depend>ament_index_python</exec_depend>
<exec_depend>python_qt_binding</exec_depend>
<exec_depend version_gte="1.1.2">qt_dotgraph</exec_depend>
<exec_depend>rqt_gui</exec_depend>
<exec_depend>rqt_gui_py</exec_depend>
<exec_depend>python3-rospkg</exec_depend>
<exec_depend>qt_gui_py_common</exec_depend>
<exec_depend>rqt_graph</exec_depend>
<exec_depend>rqt_gui_py</exec_depend>

<test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
<test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>

<export>
<architecture_independent/>
<build_type>ament_python</build_type>
<qt_gui plugin="${prefix}/plugin.xml"/>
</export>
</package>
2 changes: 2 additions & 0 deletions pytest.ini
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
[pytest]
junit_family=xunit2
Empty file added resource/rqt_dep
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43 changes: 35 additions & 8 deletions setup.py
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Original file line number Diff line number Diff line change
@@ -1,12 +1,39 @@
#!/usr/bin/env python

from setuptools import setup
from catkin_pkg.python_setup import generate_distutils_setup

d = generate_distutils_setup(
packages=['rqt_dep'],
package_name = 'rqt_dep'
setup(
name=package_name,
version='1.3.1',
package_dir={'': 'src'},
scripts=['scripts/rqt_dep']
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name + '/resource', ['resource/RosPackGraph.ui']),
('share/' + package_name, ['package.xml']),
('share/' + package_name, ['plugin.xml']),
('lib/' + package_name, ['scripts/rqt_dep']),
],
install_requires=['setuptools'],
zip_safe=True,
author='Dirk Thomas',
maintainer='Dirk Thomas, Aaron Blasdel, Thibault Kruse',
maintainer_email='[email protected]',
keywords=['ROS'],
classifiers=[
'Intended Audience :: Developers',
'License :: OSI Approved :: BSD License',
'Programming Language :: Python',
'Topic :: Software Development',
],
description=(
'rqt_dep provides a Python GUI plugin to visualize a ROS package network..'
),
license='BSD',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'rqt_dep = rqt_dep.main:main',
],
},
)

setup(**d)
177 changes: 113 additions & 64 deletions src/rqt_dep/dotcode_pack.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,13 +32,21 @@

from __future__ import with_statement, print_function

import os
import xml.etree.ElementTree as ET

import re
from typing import Any, Callable, List
from typing_extensions import Protocol

class GetItem(Protocol):
def __getitem__(self: 'Getitem', key: Any) -> Any: pass # type: ignore
def __getitem__(self: 'Getitem', key: Any) -> Any: pass # type: ignore

from rospkg import MANIFEST_FILE
from rospkg.common import ResourceNotFound
from rospkg.common import PACKAGE_FILE
from qt_dotgraph.colors import get_color_for_string
from ament_index_python.packages import get_search_paths, get_package_prefix, get_package_share_path, PackageNotFoundError

import apt

def matches_any(name, patternlist):
for pattern in patternlist:
Expand All @@ -51,23 +59,27 @@ def matches_any(name, patternlist):


class RosPackageGraphDotcodeGenerator:

def __init__(self, rospack, rosstack):
def __init__(self, list_fun:Callable[[],List[str]], system_cache:GetItem):
"""
:param rospack: use rospkg.RosPack()
:param rosstack: use rospkg.RosStack()
"""
self.rospack = rospack
self.rosstack = rosstack
self.stacks = {}
self.packages = {}
# self.rospack = rospack
# self.rosstack = rosstack
self.list_fun = list_fun
self.system_cache = system_cache
# self.stacks = {}
# self.packages = {}
self.package_types = {}
self.edges = {}
self.traversed_ancestors = {}
self.traversed_descendants = {}
self.last_drawargs = None
self.last_selection = None

search_paths = get_search_paths()
self.dry_path = get_search_paths()[-1] if len(search_paths) else ""

def generate_dotcode(self,
dotcode_factory,
selected_names=None,
Expand Down Expand Up @@ -150,26 +162,26 @@ def generate_dotcode(self,
self.traversed_ancestors = {}
self.traversed_descendants = {}
# update internal graph structure
for name in self.rospack.list():
for name in self.list_fun():
if matches_any(name, self.selected_names):
if descendants:
self.add_package_descendants_recursively(name)
if ancestors:
self.add_package_ancestors_recursively(name)
for stackname in self.rosstack.list():
if matches_any(stackname, self.selected_names):
manifest = self.rosstack.get_manifest(stackname)
if manifest.is_catkin:
if descendants:
self.add_package_descendants_recursively(stackname)
if ancestors:
self.add_package_ancestors_recursively(stackname)
else:
for package_name in self.rosstack.packages_of(stackname):
if descendants:
self.add_package_descendants_recursively(package_name)
if ancestors:
self.add_package_ancestors_recursively(package_name)
# for stackname in self.rosstack.list():
# if matches_any(stackname, self.selected_names):
# manifest = self.rosstack.get_manifest(stackname)
# if manifest.is_wet:
# if descendants:
# self.add_package_descendants_recursively(stackname)
# if ancestors:
# self.add_package_ancestors_recursively(stackname)
# else:
# for package_name in self.rosstack.packages_of(stackname):
# if descendants:
# self.add_package_descendants_recursively(package_name)
# if ancestors:
# self.add_package_ancestors_recursively(package_name)

drawing_args = {
'dotcode_factory': dotcode_factory,
Expand Down Expand Up @@ -246,11 +258,11 @@ def _generate_package(self, dotcode_factory, graph, package_name, attributes=Non
if self.mark_selected and \
'.*' not in self.selected_names and \
matches_any(package_name, self.selected_names):
if attributes and attributes['is_catkin']:
if attributes and attributes['is_wet']:
color = 'red'
else:
color = 'tomato'
elif attributes and not attributes['is_catkin']:
elif attributes and not attributes['is_wet']:
color = 'gray'
if attributes and 'not_found' in attributes and attributes['not_found']:
color = 'orange'
Expand All @@ -272,23 +284,23 @@ def _add_package(self, package_name, parent=None):
if package_name in self.packages:
return False

catkin_package = self._is_package_wet(package_name)
if catkin_package is None:
wet_package = self._is_package_wet(package_name)
if wet_package is None:
return False
self.packages[package_name] = {'is_catkin': catkin_package}

if self.with_stacks:
try:
stackname = self.rospack.stack_of(package_name)
except ResourceNotFound as e:
print(
'RosPackageGraphDotcodeGenerator._add_package(%s), '
'parent %s: ResourceNotFound:' % (package_name, parent), e)
stackname = None
if not stackname is None and stackname != '':
if not stackname in self.stacks:
self._add_stack(stackname)
self.stacks[stackname]['packages'].append(package_name)
self.packages[package_name] = {'is_wet': wet_package}

# if self.with_stacks:
# try:
# stackname = self.rospack.stack_of(package_name)
# except ResourceNotFound as e:
# print(
# 'RosPackageGraphDotcodeGenerator._add_package(%s), '
# 'parent %s: ResourceNotFound:' % (package_name, parent), e)
# stackname = None
# if not stackname is None and stackname != '':
# if not stackname in self.stacks:
# self._add_stack(stackname)
# self.stacks[stackname]['packages'].append(package_name)
return True

def _hide_package(self, package_name):
Expand All @@ -305,10 +317,10 @@ def _hide_package(self, package_name):
def _is_package_wet(self, package_name):
if package_name not in self.package_types:
try:
package_path = self.rospack.get_path(package_name)
manifest_file = os.path.join(package_path, MANIFEST_FILE)
self.package_types[package_name] = not os.path.exists(manifest_file)
except ResourceNotFound:
# package_path = self.rospack.get_path(package_name)
# manifest_file = os.path.join(package_path, MANIFEST_FILE)
self.package_types[package_name] = get_package_prefix(package_name) != self.dry_path # not os.path.exists(manifest_file)
except PackageNotFoundError:
return None
return self.package_types[package_name]

Expand All @@ -317,6 +329,29 @@ def _add_edge(self, name1, name2, attributes=None):
return
self.edges[(name1, name2)] = attributes

@staticmethod
def _get_depends_on(package_name:str):
r = get_package_share_path(package_name) / PACKAGE_FILE
tree = ET.parse(r)
dep_types = [
"build_depend",
# "build_export_depend",
# "buildtool_depend",
# "buildtool_export_depend",
"exec_depend",
"depend",
# "doc_depend",
# "test_depend",
]

deps:set[str] = set()

for dep_t in dep_types:
for dep in [x.text for x in tree.iter(dep_t) if x.text]:
deps.add(dep)

return deps

def add_package_ancestors_recursively(
self, package_name, expanded_up=None,
depth=None, implicit=False, parent=None):
Expand Down Expand Up @@ -347,8 +382,8 @@ def add_package_ancestors_recursively(
expanded_up.append(package_name)
if (depth != 1):
try:
depends_on = self.rospack.get_depends_on(package_name, implicit=implicit)
except ResourceNotFound as e:
depends_on = RosPackageGraphDotcodeGenerator._get_depends_on(package_name)
except PackageNotFoundError as e:
print(
'RosPackageGraphDotcodeGenerator.add_package_ancestors_recursively(%s),'
' parent %s: ResourceNotFound:' % (package_name, parent), e)
Expand Down Expand Up @@ -389,29 +424,43 @@ def add_package_descendants_recursively(
expanded = []
expanded.append(package_name)
if (depth != 1):
is_ros_package = False
is_system_package = False
search_problem = '???'
try:
try:
depends = self.rospack.get_depends(package_name, implicit=implicit)
except ResourceNotFound:
# try falling back to rosstack to find wet metapackages
manifest = self.rosstack.get_manifest(package_name)
if manifest.is_catkin:
depends = [d.name for d in manifest.depends]
else:
raise
except ResourceNotFound as e:
print(
'RosPackageGraphDotcodeGenerator.add_package_descendants_recursively(%s), '
'parent: %s: ResourceNotFound:' % (package_name, parent), e)
# try:
depends = RosPackageGraphDotcodeGenerator._get_depends_on(package_name) #self.rospack.get_depends(package_name, implicit=implicit)
is_ros_package = True
# except ResourceNotFound:
# # try falling back to rosstack to find wet metapackages
# manifest = self.rosstack.get_manifest(package_name)
# if manifest.is_wet:
# depends = [d.name for d in manifest.depends]
# else:
# raise
except PackageNotFoundError:
depends = []
search_problem = f"Resource not found in: {get_search_paths()}"

# get system dependencies without recursion
if self.show_system:
rosdeps = self.rospack.get_rosdeps(package_name, implicit=implicit)
for dep_name in [x for x in rosdeps if not matches_any(x, self.excludes)]:
if self.show_system and not is_ros_package:

if any(key.includes(package_name) for key in self.system_cache):
# rosdeps = self.rospack.get_rosdeps(package_name, implicit=implicit)
# for dep_name in [x for x in rosdeps if not matches_any(x, self.excludes)]:
dep_name = package_name
if not self.hide_transitives or not dep_name in expanded:
self._add_edge(package_name, dep_name)
self._add_package(dep_name, parent=package_name)
expanded.append(dep_name)
else:
search_problem = f"Resource not found in system"

if not is_ros_package and not is_system_package:
print(
'RosPackageGraphDotcodeGenerator.add_package_descendants_recursively(%s), '
'parent: %s: ' % (package_name, parent), search_problem)

new_nodes = []
for dep_name in [x for x in depends if not matches_any(x, self.excludes)]:
if not self.hide_transitives or not dep_name in expanded:
Expand Down
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