How to locate a non-executable generated file?

asked 2013-10-21 18:00:36 -0500

1153 ●29 ●46 ●56 http://clearpathrobotics.com/

I have a catkin package which generates a file—it's not an executable, but some scripts I have need to be able to locate and read this file. It ends up by default in the build space, and I've set up a POST_BUILD command in CMakeLists.txt to copy it to the devel space. The $(find) macro (and rospack find) point back to the source tree, so that's no good for locating this file, and it's not executable, so rosrun isn't the right choice either.

Incidentally, it works great in install space, as the generated file just gets copied into the package's share directory like any other resource, and then rospack find does its thing.

I believe the $(find-resource) macro as discussed here does what I want, but only in the context of launch files, not from the command line. I'd prefer not to have to wrap this script in a launch file unless absolutely necessary.

It looks like under the hood, find-resource is implemented using the catkin.find_in_workspaces.find_in_workspaces function. Is there a commandline interface to this, or should I just write my own small python wrapper to do it?

Thanks.

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answered 2013-10-22 09:14:33 -0500

Dirk Thomas
16276 ●62 ●190 ●215

This functionality is already exposed in a command line tool called catkin_find. It has several option to customize your search.

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Awesome, I'll switch to that on the next revision.

mikepurvis ( 2013-10-23 10:13:29 -0500 )edit

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answered 2013-10-21 21:37:27 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

updated 2013-10-21 21:38:12 -0500

My understanding is that all generated files should get generated directly into devel. Do you generate the files after find_package(CATKIN)?

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@Dirk Thomas please check my answer

tfoote ( 2013-10-21 21:38:18 -0500 )edit

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answered 2013-10-22 08:53:59 -0500

mikepurvis

1153 ●29 ●46 ●56 http://clearpathrobotics.com/

For others in this position, here's my simple script:

#!/usr/bin/env python

import sys
from catkin.find_in_workspaces import find_in_workspaces

try:
    script_name, package_name, file_name = sys.argv
except ValueError:
    sys.stderr.write("Usage: find_file PACKAGE FILE\n\n")
    exit(1)

path = find_in_workspaces(project=package_name, path=file_name)

if len(path) > 0:
    sys.stdout.write("%s\n" % path[0])
else:
    sys.stderr.write("No file found in package.\n")
    exit(1)

Usage is:

rosrun mypkg find_file mypkg myfile

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See @Dirk Thomas 's anwer catkin_find does this and more.

tfoote ( 2013-10-22 10:57:20 -0500 )edit

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How to locate a non-executable generated file?

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