robokudo.utils.file_loader

File path resolution utilities for RoboKudo.

This module provides utilities for resolving file paths in ROS packages.

module:

file_loader

synopsis:

File path resolution utilities for ROS packages

moduleauthor:

RoboKudo Team

Dependencies:

  • pathlib

  • rospkg

  • logging

Classes

FileLoader

File path resolution helper for ROS packages.

Module Contents

class robokudo.utils.file_loader.FileLoader

File path resolution helper for ROS packages.

This class provides methods for resolving file paths in ROS packages.

Example: 

pkg_path = FileLoader.get_ros_pkg_path('my_package')
file_path = FileLoader.get_path_to_file_in_ros_package('my_package', 'config/params.yaml')
static get_ros_pkg_path(ros_pkg_name: str) → pathlib.Path

Get a Path object to a ROS2 package given the name

Throws OSError if ROS2 package can’t be found.

Parameters:

ros_pkg_name – name of a ros2 package

Returns:

path object with the ros2 package path

Raises:

OSError – If ROS package cannot be found

Example: 

pkg_path = loader.get_ros_pkg_path('my_package')
assert pkg_path.exists()
static get_path_to_file_in_ros_package(ros_pkg_name: str, relative_path: str) → pathlib.Path

Get a Path object to a given the filename inside a ROS package. Please note, that relative_path should NOT start with ‘/’, because then it would be considered as an absolute path from pathlib.Path.joinpath()

Throws OSError if ROS package can’t be found or relative_path in ROS package doesn’t exist.

Parameters:

  • ros_pkg_name – name of a ros package

  • relative_path – the filename of the desired file, relative to the path of ros_pkg_name

Returns:

path object to the desired file relative the ros package

Raises:

OSError – If package or file cannot be found

Example: 

file_path = loader.get_path_to_file_in_ros_package('my_package', 'config/params.yaml')
assert file_path.exists()

Note

The relative_path should NOT start with ‘/’ to avoid being treated as an absolute path by pathlib.Path.joinpath()