class OroGen::ROS::Spec::Package

Constants

OROGEN_ROS_NODE_NAME: The name of the root model for all ROS nodes

Attributes

ros_loader[R]

The loader that should be used for ROS-specific stuff @return [Loader]

Public Class Methods

new(root_loader, ros_loader = root_loader) click to toggle source

Calls superclass method OroGen::Spec::Project.new

# File lib/orogen/ros/spec/package.rb, line 14
def initialize(root_loader, ros_loader = root_loader)
    super(root_loader)
    @ros_loader = ros_loader
    self.define_default_deployments = false
end

Public Instance Methods

__eval__(deffile, deftext, verbose = (::OroGen.logger.level == ::Logger::DEBUG)) click to toggle source

# File lib/orogen/ros/spec/package.rb, line 77
def __eval__(deffile, deftext, verbose = (::OroGen.logger.level == ::Logger::DEBUG))
    if !deffile
        @load_doc = false
        instance_eval deftext
    else
        @load_doc = ::File.file?(deffile)
        instance_eval deftext, deffile, 1
    end
    self
rescue ::Exception => e
    if true || verbose then ::Kernel.raise
    else
        this_level = ::Kernel.caller.size
        until_here = e.backtrace[-(this_level-1)..-1] || []
        subcalls = e.backtrace[0, e.backtrace.size - this_level - 1] || []
        subcalls.delete_if { |line| line =~ /eval|method_missing/ && line !~ /\.orogen/ }
        subcalls = subcalls.map { |line| line.gsub(/:in `(?:block in )?__eval__'/, '') }
        ::Kernel.raise e, e.message, (subcalls + until_here)
    end
end

default_task_superclass() click to toggle source

# File lib/orogen/ros/spec/package.rb, line 20
def default_task_superclass
    if @default_task_superclass.nil?
        @default_task_superclass = loader.task_model_from_name "ROS::Node"
    else @default_task_superclass
    end
end

import_types_from(typekit) click to toggle source

Load a typekit to import RTT-to-ROS mappings

# File lib/orogen/ros/spec/package.rb, line 28
def import_types_from(typekit)
    using_typekit(typekit)
end

ros_launcher(name, &block) click to toggle source

Declares a ros launcher that exists within the package defined by the project name

#ros_launcher “test”

use_existing

end

If use existing is given it will search for “test.lauch” in the ros package and extract the nodes started by the launch- file

# File lib/orogen/ros/spec/package.rb, line 60
def ros_launcher(name, &block)
    launcher = Spec::Launcher.new(self, name)
    launcher.instance_eval(&block) if block_given?
    deployers[launcher.name] = launcher
    launcher
rescue Exception => e
    raise e, "defining ROS launcher #{name} on #{self} failed: #{e.message}", e.backtrace
end

ros_node(name, options = Hash.new, &block) click to toggle source

Declares a ros node that exists within the package define by the project name

name “ros_package” #ros_node “ros_node” do

.. node specification ..

end

defines a ros_package::ros_node class.

Nodes are represented as instances of RosNode. See the documentation of that class for more details @return [Node]

# File lib/orogen/ros/spec/package.rb, line 45
def ros_node(name, options = Hash.new, &block)
    task = external_task_context(name, Hash[:class => Spec::Node].merge(options), &block)
    self_tasks[task.name] = task
end

simple_deployment() click to toggle source

# File lib/orogen/ros/spec/package.rb, line 73
def simple_deployment
    raise NotImplementedError, "cannot create simple deployments on #{self.class}"
end

using_ros_package(name) click to toggle source

# File lib/orogen/ros/spec/package.rb, line 69
def using_ros_package(name)
    using_task_library(name)
end