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How to load a file contained in a package

asked 2014-06-19 01:23:00 -0500

Mehdi. gravatar image

Let's say I have a file with stored information. I don't want to put the absolute path, neither do I want to roscd mypackage before executing my node so that the file can be found. Is there an elegant way of doing that on both Python and C++?

If it is not possible, how can I then solve the problem when using roslaunch, because then the file is not found anymore even when change my directory to the packages directory before launching.

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Excellent question! I usually set the project source dir as define in CMakeLists.txt ( set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DLOCATION=${PROJECT_SOURCE_DIR}) ) and then use this define (LOCATION) in my code to locate the files. --> Works but what would be the proper way to do that??

Wolf gravatar image Wolf  ( 2014-06-19 07:45:42 -0500 )edit

is {PROJECT_SOURCE_DIR} a general flag recognized by CMake or do you replace it by the global path? In case of the latter option this doesn't fully solve the problem.

Mehdi. gravatar image Mehdi.  ( 2014-06-19 20:33:53 -0500 )edit

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answered 2014-06-30 04:09:24 -0500

gvdhoorn gravatar image

updated 2014-06-30 04:13:17 -0500

You might be interested in the roslib C++ API. Especially the section on packages.

To get the fully qualified path to a package (from there it should be easy enough to navigate to the actual file) you should probably use ros::package::getPath(const std::string& package_name).

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I think this is the right way to do it. Thanks ! I also found this tutorial that describes how to use the API for both C++ and Python http://wiki.ros.org/Packages#Client_Library_Support

Mehdi. gravatar image Mehdi.  ( 2014-06-30 04:18:25 -0500 )edit
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answered 2014-06-30 03:17:04 -0500

Mehdi. gravatar image

So after looking around I finally found an easy solution. Just execute the command "rospack find package_name" from your program and get the output of the command back as string. Then just append the name of your file contained in that folder. Of course here I suppose that the name of the package is known and that it will not change. I think this is goes straight forward in Python. In C++ It can be implemented this way:

string get_package_path(char const* package_name) {
    stringstream ss;
    ss << "rospack find " << package_name;
    FILE* pipe = popen(ss.str().c_str(), "r");
    if (!pipe) return "ERROR";
    char buffer[128];
    string result = "";
    while(!feof(pipe)) {
        if(fgets(buffer, 128, pipe) != NULL)
            result += buffer;
    }
    pclose(pipe);
    return result.substr(0, result.length() -1);
}

I remove the last character from the string before returning it because it is a "\n" new line character which is not good when I later append the name of my file contained in the package folder. I hope this could help.

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Asked: 2014-06-19 01:23:00 -0500

Seen: 542 times

Last updated: Jun 30 '14