robokudo.utils.module_loader¶

Classes¶

`RobokudoModuleType`	Generic enumeration.
`ModuleLoader`

Module Contents¶

class robokudo.utils.module_loader.RobokudoModuleType¶

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

ActionServer¶

Annotator¶

AnalysisEngine¶

CameraConfig¶

IO¶

SemanticMap¶

ObjectKnowledgeBase¶

TreeComponents¶

Types¶

Utils¶

Data¶

class robokudo.utils.module_loader.ModuleLoader¶

logger = None¶

_get_ros_pkg_src_path(ros_pkg_name: str) → pathlib.Path¶

Get the ros package src path given the name of the package.

Parameters¶

ros_pkg_namestr: name of a ros package

Returns¶

ros_pkg_pathPath: path object with the ros package path

_get_module_dir_path(package_src_path: pathlib.Path, module_type: RobokudoModuleType)¶

Get the path of a directory in a robokudo module of a given ros package.

Parameters¶

package_src_pathPath: path to the src of a robokudo ros package
module_type: RobokudoModuleType: type of the robokudo module to load

Returns¶

module_dir_pathPath: path object with the directory path

_get_module_path(package_src_path: pathlib.Path, module_type: RobokudoModuleType, module_name: str) → pathlib.Path¶

Get the path of a robokudo module given the ros package src path.

Parameters¶

package_src_pathPath: path to the src of a robokudo ros package
module_type: RobokudoModuleType: type of the robokudo module to load
module_name: str: name of the module to load, e.g. the name of an analysis engine or annotator

Returns¶

module_pathPath: path object with the module path

_load_module(ros_pkg_name: str, module_type: RobokudoModuleType, module_name: str)¶

Load a robokudo module from given the ros package.

Parameters¶

ros_pkg_namestr: name of the ros package
module_type: RobokudoModuleType: type of the robokudo module to load
module_name: str: name of the module to load, e.g. the name of an analysis engine or annotator

Returns¶

loaded_module: object of the module to load

load_ae(ros_pkg_name: str, module_name: str)¶

Load an Analysis Engine (AE) given the AE module name and the ros package name.

The ros package has to be in located in the same workspace. The path to the AE within the package is meant to be: $package_path/src/robokudo_example_package/descriptors/analysis_engines/.

Parameters¶

ros_pkg_namestr: name of the ros package where the AE is located
module_name: str: name of the module to load, e.g. the name of an analysis engine or annotator

Returns¶

ae_root: root of the AE

load_annotator(ros_pkg_name: str, module_name: str)¶

load_camera_config(ros_pkg_name: str, module_name: str)¶

Load a camera config module given the ros package and module name.

Parameters¶

ros_pkg_namestr: name of the ros package where the camera config is located
module_name: str: name of the camera config module to load annotator

Returns¶

loaded_config: loaded camera config class

load_action_server(ros_pkg_name: str, module_name: str)¶

Load an action server module given the ros package name where the module is located the module name.

Parameters¶

ros_pkg_namestr: name of the ros package where the action server is located
module_name: str: name of action server module to load

Returns¶

loaded_action_server: loaded action server class

load_io(ros_pkg_name: str, module_name: str)¶

load_object_knowledge_base(ros_pkg_name: str, module_name: str)¶

Load an ObjectKnowledgeBase given the module name and the ros package name.

The path to the AE within the package is meant to be: $package_path/src/PACKAGE_NAME/descriptors/object_knowledge/.

Parameters¶

ros_pkg_namestr: name of the ros package where the semantic map is located
module_name: str: name of the module to load, e.g. the name of a object knowledge base

Returns¶

object_knowledge_base: The object knowledge base

load_semantic_map(ros_pkg_name: str, module_name: str)¶

Load an Analysis Engine (AE) given the AE module name and the ros package name.

The path to the AE within the package is meant to be: $package_path/src/PACKAGE_NAME/descriptors/semantic_maps/.

Parameters¶

ros_pkg_namestr: name of the ros package where the semantic map is located
module_name: str: name of the module to load, e.g. the name of a semantic map

Returns¶

ae_root: root of the AE

load_tree_components(ros_pkg_name: str, module_name: str)¶

load_types(ros_pkg_name: str, module_name: str)¶

load_utils(ros_pkg_name: str, module_name: str)¶

get_file_paths(ros_pkg_name: str, module_type: RobokudoModuleType, dir_name: str, file_extension: str = None) → List[pathlib.Path]¶

Get the path of a robokudo module given the ros package src path.

Parameters¶

ros_pkg_namestr: name of the ros package where the AE is located
module_type: RobokudoModuleType: type of the robokudo module to load
dir_name: str: name of the directory where the files are located relative to the module
file_extension: str: extension of files to load, e.g. ‘.txt’, ‘.png’, ‘.yaml’ etc.

Returns¶

file_pathsList[Path]: list of file path objects