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Toolsuite for running ROS environments directly from python code, without any specific requirements outside of usual python

Project description

https://travis-ci.org/asmodehn/pyros-setup.svg?branch=master

Toolsuite for running ROS environments directly from python code, without any specific requirements outside of usual python.

This is a pure python package, to be installed in your system, in order to allow easy ROS access from your python environment.

To install it:

sudo pip install -i https://testpypi.python.org/pypi pyros_setup

To run the self tests, using entry_points defined in setup.py:

pyros_setup

OR using the python package directly:

python -m pyros_setup

OR using nosetests specifically:

nosetests pyros_setup

It can also be used from source inside a catkin workspace in the same way. The workspace act as a virtual environment (using https://github.com/asmodehn/catkin_pure_python). This is useful for development along with ROS packages:

$ catkin_make
$ source devel/setup.bash
$ python -m pyros_setup
$ pyros_setup
$ nosetests pyros_setup

However it is also usable by catkin from source for ease of development and compatibility testing.

Basically it allows you to do this:

try:
    import rospy
    import roslaunch
    import rosgraph
    import rosnode
except ImportError:  # if ROS environment is not setup, we emulate it.
    import pyros_setup
    pyros_setup = pyros_setup.delayed_import_auto(base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..', '..', '..', '..'))
    import rospy
    import roslaunch
    import rosgraph
    import rosnode

A ROS package WILL NOT be provided, since there is no simple and clean way to turn a pure python package into a catkin package. If you want to depend on pyros-setup, you should use the rosdep pip dependency mechanism.

Note: If you know any easier / less tricky / more pythonic way of handling dynamic imports, let me know!

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