From: Jochen Sprickerhof Date: Sun, 29 May 2022 07:16:08 +0200 Subject: Add ROS 1 API Mostly copied from pluginlib 1.13.0. --- CMakeLists.txt | 2 ++ include/pluginlib/class_loader.hpp | 22 ++++++++++++ include/pluginlib/class_loader_imp.hpp | 66 ++++++++++++++++++++++++++++++++++ 3 files changed, 90 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8ae720e..0dce763 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,6 +17,7 @@ find_package(class_loader REQUIRED) find_package(rcutils REQUIRED) find_package(rcpputils REQUIRED) find_package(TinyXML2 REQUIRED) # provided by tinyxml2 upstream, or tinyxml2_vendor +find_package(roslib REQUIRED) add_library(${PROJECT_NAME} INTERFACE) target_include_directories(${PROJECT_NAME} INTERFACE @@ -27,6 +28,7 @@ target_link_libraries(${PROJECT_NAME} INTERFACE class_loader::class_loader rcutils::rcutils rcpputils::rcpputils + roslib tinyxml2::tinyxml2) ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils TinyXML2) diff --git a/include/pluginlib/class_loader.hpp b/include/pluginlib/class_loader.hpp index 28eb0f0..96d34df 100644 --- a/include/pluginlib/class_loader.hpp +++ b/include/pluginlib/class_loader.hpp @@ -34,12 +34,26 @@ #include #include +#include #include "class_loader/multi_library_class_loader.hpp" #include "pluginlib/class_desc.hpp" #include "pluginlib/class_loader_base.hpp" #include "pluginlib/exceptions.hpp" #include "tinyxml2.h" // NOLINT +namespace +{ + +template +struct Holder +{ + SP sp; + explicit Holder (const SP& p) : sp(p) {} + void operator()(...) { sp.reset(); } +}; + +} + namespace pluginlib { @@ -84,6 +98,8 @@ public: */ std::shared_ptr createSharedInstance(const std::string & lookup_name); + boost::shared_ptr createInstance(const std::string & lookup_name); + /// Create an instance of a desired class. /** * Implicitly calls loadLibraryForClass() to increment the library counter. @@ -261,6 +277,9 @@ private: const std::string & library_name, const std::string & exporting_package_name); + /// Return the paths where libraries are installed according to the Catkin build system. + std::vector getCatkinLibraryPaths(); + /// Return an error message for an unknown class. /** * \param lookup_name The name of the class @@ -271,6 +290,9 @@ private: /// Get the standard path separator for the native OS (e.g. "/" on *nix, "\" on Windows). std::string getPathSeparator(); + /// Given a package name, return the path where rosbuild thinks plugins are installed. + std::string getROSBuildLibraryPath(const std::string & exporting_package_name); + /// Get the package name from a path to a plugin XML file. std::string getPackageFromPluginXMLFilePath(const std::string & path); diff --git a/include/pluginlib/class_loader_imp.hpp b/include/pluginlib/class_loader_imp.hpp index 43bfcfb..12557a2 100644 --- a/include/pluginlib/class_loader_imp.hpp +++ b/include/pluginlib/class_loader_imp.hpp @@ -45,6 +45,7 @@ #include "ament_index_cpp/get_resource.hpp" #include "ament_index_cpp/get_resources.hpp" #include "class_loader/class_loader.hpp" +#include #include "rcpputils/shared_library.hpp" #include "rcutils/logging_macros.h" @@ -83,7 +84,9 @@ ClassLoader::ClassLoader( ament_index_cpp::get_package_prefix(package_); } catch (const ament_index_cpp::PackageNotFoundError & exception) { // rethrow as class loader exception, package name is in the error message already. + if (ros::package::getPath(package_).empty()) { throw pluginlib::ClassLoaderException(exception.what()); + } } if (0 == plugin_xml_paths_.size()) { @@ -111,6 +114,14 @@ std::shared_ptr ClassLoader::createSharedInstance(const std::string & look return createUniqueInstance(lookup_name); } +template +boost::shared_ptr ClassLoader::createInstance(const std::string & lookup_name) +/***************************************************************************/ +{ + std::shared_ptr p = createSharedInstance(lookup_name); + return boost::shared_ptr(p.get(), Holder>(p)); +} + template UniquePtr ClassLoader::createUniqueInstance(const std::string & lookup_name) { @@ -218,6 +229,9 @@ std::vector ClassLoader::getPluginXmlPaths( } } } + if (paths.size() == 0) { + ros::package::getPlugins(package, attrib_name, paths); + } return paths; } @@ -288,6 +302,23 @@ std::string ClassLoader::extractPackageNameFromPackageXML(const std::string & return package_name_node_txt; } +template +std::vector ClassLoader::getCatkinLibraryPaths() +/***************************************************************************/ +{ + std::vector lib_paths; + const char * env = std::getenv("CMAKE_PREFIX_PATH"); + if (env) { + std::vector catkin_prefix_paths = pluginlib::impl::split(env, CLASS_LOADER_IMPL_OS_PATHSEP); + for( auto &catkin_prefix_path: catkin_prefix_paths) { + std::filesystem::path path(catkin_prefix_path); + std::filesystem::path lib("lib"); + lib_paths.push_back((path / lib).string()); + } + } + return lib_paths; +} + template std::vector ClassLoader::getAllLibraryPathsToTry( const std::string & library_name, @@ -325,6 +356,7 @@ std::vector ClassLoader::getAllLibraryPathsToTry( std::vector all_paths; // result of all pairs to search + try { std::string package_prefix = ament_index_cpp::get_package_prefix(exporting_package_name); // Setup the directories to look in. @@ -382,6 +414,33 @@ std::vector ClassLoader::getAllLibraryPathsToTry( library_name.c_str(), path.c_str()); } + } catch (const ament_index_cpp::PackageNotFoundError & exception) { + // Catkin-rosbuild Backwards Compatability Rules - Note library_name may be prefixed with + // relative path (e.g. "/lib/libFoo") + // 1. Try catkin library paths (catkin_find --libs) + library_name + extension + // 2. Try catkin library paths + // (catkin_find -- libs) + stripAllButFileFromPath(library_name) + extension + // 3. Try export_pkg/library_name + extension + + std::vector all_paths_without_extension = getCatkinLibraryPaths(); + all_paths_without_extension.push_back(getROSBuildLibraryPath(exporting_package_name)); + std::string non_debug_suffix = ".so"; + std::string library_name_with_extension = library_name + non_debug_suffix; + std::string stripped_library_name = stripAllButFileFromPath(library_name); + std::string stripped_library_name_with_extension = stripped_library_name + non_debug_suffix; + + const std::string path_separator = getPathSeparator(); + + for (unsigned int c = 0; c < all_paths_without_extension.size(); c++) { + std::string current_path = all_paths_without_extension.at(c); + all_paths.push_back(current_path + path_separator + library_name_with_extension); + all_paths.push_back(current_path + path_separator + stripped_library_name_with_extension); + } + } + + if (all_paths.size() == 0) { + ament_index_cpp::get_package_prefix(exporting_package_name); + } return all_paths; } @@ -577,6 +636,13 @@ std::vector ClassLoader::getRegisteredLibraries() return lowlevel_class_loader_.getRegisteredLibraries(); } +template +std::string ClassLoader::getROSBuildLibraryPath(const std::string & exporting_package_name) +/***************************************************************************/ +{ + return ros::package::getPath(exporting_package_name); +} + template bool ClassLoader::isClassAvailable(const std::string & lookup_name) /***************************************************************************/