rosrun and finding python files in other packages using catkin

asked 2013-03-04 09:57:53 -0600

TommyP
1339 ●44 ●56 ●72

updated 2014-01-28 17:15:30 -0600

ngrennan
1 ●1 ●1

I asked a similar question and got it to work with global scripts but not with rosrun.

So now I wonder how to do the following:

In package A i have

A/src/mp.py

In package B I have a file

A/src/test.py

which has the line:

from mp import *

Now when I do "rosrun A test.py" mp.py is not found. What is the correct way to solve this. Exactly what should I write in setup.py and in CMakeFile.txt?

answered 2013-03-04 10:27:15 -0600

KruseT

7848 ●40 ●87 ●146

In setup.py of package A, you need to export the module. The cleanest way is to use a python package. So you should put mp.py in a python package, like

A/
A/setup.py
A/src/
A/src/mp/
A/src/mp/__init__.py
A/src/mp/mp.py

Then in setup.py declare the package mp, and enable the line catkin_python_setup() in A's CMakeLists.txt. Then run catkin_make. This will generate package relay files, in devel/lib/python2.7/dist-packages/A. Then source devel/setup.sh. This will change your PYTHONPATH to include the package relay files.

See:

http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html

http://ros.org/wiki/rospy_tutorials/Tutorials/Makefile

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OK. So the thing that was possible with rosbuild is no longer possible. That should be documented somewhere since I have wasted some time trying to figure out how to get it to work as with rosbuild. I need to read up on Python packages I see.

TommyP ( 2013-03-04 10:45:53 -0600 )edit

Got it to work. Thanks for the good answer.

TommyP ( 2013-03-04 11:05:58 -0600 )edit

Is the package fund before system packages? I have a package called tst but the import seems to select "/usr/share/doc/python-libxml2/examples/tst.py". I solved my problem with "import tst.tst" but it was very confusing.

TommyP ( 2013-03-04 23:18:17 -0600 )edit

That's how python does it, and that's why it is best to always use packages, and to always import giving the full name with the package.

KruseT ( 2013-03-05 02:30:17 -0600 )edit

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