ROS2: Read package version at runtime from python

edit

Answering my own question...

import os
import xml.etree.ElementTree as ET
from ament_index_python import get_package_share_directory

def get_package_version(pkg_name):
    pkg_share_dir = get_package_share_directory(pkg_name)
    package_xml_path = os.path.join(pkg_share_dir, "package.xml") 
    xmldata = ET.parse(package_xml_path)
    version = xmldata.findall("version")[0].text
    return version

Credit to @daniel-stonier for the suggestion.