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ROS2 launch FindPackageShare vs get_package_share_directory

asked 2020-06-11 01:40:37 -0500

Mbuijs

247 ●7 ●17 ●16

updated 2020-06-11 01:41:22 -0500

I've noticed 2 possible ways to get the share directory of a package from within a launch.py file:

from ament_index_python.packages import get_package_share_directory

get_package_share_directory("package_a")

versus

from launch_ros.substitutions import FindPackageShare

FindPackageShare("package_a")

The former returns a string directly, the latter will be evaluated to a string when passed into a LaunchDescription somewhere.

Which one is recommended?

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answered 2020-06-11 22:57:47 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

Interesting - I suppose the launch_ros.substitutions is the preferred since somebody spent the time to implement it - and under the hood it actually just calls ament_index_python.packages.get_package_shared_directory (see https://github.com/ros2/launch_ros/pu...)

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That's what I found already as well, but no recommendation to use one or the other...

Mbuijs ( 2020-06-12 04:04:42 -0500 )edit

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Asked: 2020-06-11 01:40:37 -0500

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Last updated: Jun 11 '20

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ROS2 launch FindPackageShare vs get_package_share_directory