Bug 563019 - [Robotics, ROS2] Handle unset ROS2 environment variables
- Obtain ros2 location from PATH environment, do not assume that it exists in
<distribution-root>/bin/ros2 which does not hold if installed from source)
Change-Id: I14b94cf6c620c912438137eff303d643bd2a34da
Signed-off-by: Ansgar Radermacher <ansgar.radermacher@cea.fr>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/EnvironmentUtils.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/EnvironmentUtils.java
index 9815635..0505683 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/EnvironmentUtils.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/EnvironmentUtils.java
@@ -37,6 +37,8 @@
*/
public class EnvironmentUtils {
+ private static final String PATH = "PATH"; //$NON-NLS-1$
+
public static final String ROS_PREFIX = "ROS_"; //$NON-NLS-1$
public static final String DECLARE_X = "declare -x"; //$NON-NLS-1$
@@ -67,24 +69,23 @@
// update the following environment values (and those starting with ROS_)
public static final List<String> checkValues = Lists.newArrayList(
Ros2Constants.AMENT_PREFIX_PATH,
- "PATH", //$NON-NLS-1$
+ PATH, // $NON-NLS-1$
"LD_LIBRARY_PATH", //$NON-NLS-1$
"PYTHONPATH"); //$NON-NLS-1$
@SuppressWarnings("nls")
public static void checkAndApplySetup() {
- String setupPath = Ros2PreferenceUtils.getRosDistroPath() + "/setup.bash"; //$NON-NLS-1$
+ String setupPath = Ros2PreferenceUtils.getRosDistroPath() + "/setup.bash"; //$NON-NLS-1$
if (new File(setupPath).exists()) {
sourceScript(setupPath);
- }
- else {
+ } else {
final Shell shell = Display.getCurrent().getActiveShell();
MessageDialog.openInformation(shell, "ROS setup", String.format( //$NON-NLS-1$
- "It seems that the ROS2 setup file has not been \"sourced\" (AMENT_PREFIX_PATH is not set)\n" +
- "Papyrus for Robotics could not find a setup.bash file at the standard location (%s). " +
- "Please specify the PATH to your ROS2 distribution in the ROS2 preferences.\n" +
- "=> Window => Preferences => type \"ros\" in filter => set path to ROS2 distribution.",
- Ros2PreferenceUtils.getRosDistroPath()));
+ "It seems that the ROS2 setup file has not been \"sourced\" (AMENT_PREFIX_PATH is not set)\n" +
+ "Papyrus for Robotics could not find a setup.bash file at the standard location (%s). " +
+ "Please specify the PATH to your ROS2 distribution in the ROS2 preferences.\n" +
+ "=> Window => Preferences => type \"ros\" in filter => set path to ROS2 distribution.",
+ Ros2PreferenceUtils.getRosDistroPath()));
}
}
@@ -144,7 +145,7 @@
// Map<String, String> env = EnvironmentUtils.getModifiableEnvironmentMap();
while ((line = results.readLine()) != null) {
line = line.substring(DECLARE_X.length());
- String lineArray[] = line.split("=");
+ String lineArray[] = line.split("="); //$NON-NLS-1$
if (lineArray.length == 2) {
String var = lineArray[0].trim();
String value = StringUtils.unquote(lineArray[1]);
@@ -158,4 +159,22 @@
Activator.log.error(e);
}
}
+
+ /**
+ * Return the executable or null
+ *
+ * @param executable
+ * the name of the executable
+ * @return the absolute path to the executable or null
+ */
+ public static String getFromPath(final String executable) {
+ String[] pathParts = get(PATH).split(File.pathSeparator);
+ for (String pathPart : pathParts) {
+ File file = new File(pathPart + File.separator + executable);
+ if (file.exists()) {
+ return file.getAbsolutePath();
+ }
+ }
+ return null;
+ }
}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2Constants.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2Constants.java
index 3fcdf55..e55d902 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2Constants.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2Constants.java
@@ -20,6 +20,8 @@
public static final String ROS2 = "ros2";
// ros2 message command option
+ public static final String PKG = "pkg";
+ // ros2 service command option
public static final String MSG = "msg";
// ros2 service command option
public static final String SRV = "srv";
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2ProcessBuilder.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2ProcessBuilder.java
index 3eb9971..650a938 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2ProcessBuilder.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.base/src/org/eclipse/papyrus/robotics/ros2/base/Ros2ProcessBuilder.java
@@ -4,19 +4,24 @@
import java.util.List;
import java.util.Map;
-import org.eclipse.papyrus.robotics.ros2.preferences.Ros2PreferenceUtils;
-
public class Ros2ProcessBuilder {
+ private static final String ROS2 = "ros2"; //$NON-NLS-1$
+
ProcessBuilder pb;
- public Ros2ProcessBuilder(String... commands) {
+ public Ros2ProcessBuilder(String... cmdParams) {
pb = new ProcessBuilder();
- // ROS2 path
- String ros2Path = String.format("%s/bin/ros2", Ros2PreferenceUtils.getRosDistroPath());
- pb.command().add(ros2Path);
- for(String command : commands) {
- pb.command().add(command);
+ String ros2 = EnvironmentUtils.getFromPath(ROS2);
+ if (ros2 == null) {
+ // don't throw an exception, otherwise the tests (running on a machine
+ // without ROS2 installed) are failing. Fall back to ros2, even if the
+ // command cannot be executed in that case.
+ ros2 = ROS2;
+ }
+ pb.command().add(ros2);
+ for(String cmdParam : cmdParams) {
+ pb.command().add(cmdParam);
}
Map<String, String> localEnv = EnvironmentUtils.getenv();
Map<String, String> pbEnv = pb.environment();
