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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.

HowTo install

To install it:

pip install 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_pip). This is useful for development along with ROS packages:

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

HowTo code

Basically it allows you to do this:

import pyros_setup
try:
    import rospy
    import roslaunch
    import rosgraph
    import rosnode
except ImportError:  # if ROS environment is not setup, we emulate it.
    pyros_setup.configurable_import().configure('mysetup.cfg').activate()  # this will use mysetup.cfg from pyros-setup instance folder
    import rospy
    import roslaunch
    import rosgraph
    import rosnode

With mysetup.cfg in pyros-setup instance folder containing:

import os
WORKSPACES=[os.path.join('home', 'user', 'ROS', 'workspace', 'devel')]
DISTRO='indigo'

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

HowTo deploy

If you want to use pyros-setup, you should use the pip package, since the whole point is to provide access to ROS from pure python environment. This is now possible thanks to [catkin_pip](https://github.com/asmodehn/catkin_pip)

Remarks

Although it would technically be possible to build a ROS package from this source, this will NOT be done. The catkin build system is only here to help having pyros-setup in a source workspace while developing on it. When using ROS directly this package is not needed, and having it installed among ROS packages would cause much user confusion when importing packages.

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