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#!/usr/bin/env sh
"true";exec /usr/bin/env /usr/bin/sbcl --noinform --end-runtime-options --noprint --no-userinit --disable-debugger --script "$0" "$@"
;; This LISP script can be used to launch LISP scripts that depend on ros functinoality.
;; To use it make the following the first two lines of your script:
;;
;; #!/usr/bin/env sh
;; "true";exec /usr/bin/env rosrun roslisp run-roslisp-script.sh --script "$0" "$@"
;;
;; You can then load asdf systems from ROS (like roslisp) using:
;; (ros-load:load-system "roslisp" "roslisp")
;;
;; This script initializes ros lookup of packages, and wraps SBCL to suppress unwanted output for scripts
(REQUIRE :ASDF)
(labels ((get-roslisp-path ()
;; calls rospack to find path to roslisp
(let ((rospack-process
(run-program "rospack" '("find" "roslisp")
:search t
:output :stream)))
(when rospack-process
(unwind-protect
(with-open-stream (o (process-output rospack-process))
(concatenate 'string (car (loop
for line := (read-line o nil nil)
while line
collect line)) "/load-manifest/"))
(process-close rospack-process)))))
(load-ros-lookup ()
;; make sure roslisp is in asdf central registry
(PUSH (get-roslisp-path) ASDF:*CENTRAL-REGISTRY*)
;; load ros-load-manifest, defining e.g. "ros-load:load-system"
(ASDF:OPERATE 'ASDF:LOAD-OP :ROS-LOAD-MANIFEST :VERBOSE NIL)))
(load-ros-lookup))
(PUSH :ROSLISP-STANDALONE-EXECUTABLE *FEATURES*)
;; handle conditions
(LABELS ((ROSLISP-DEBUGGER-HOOK (CONDITION ME)
(DECLARE (IGNORE ME))
(FLET ((FAILURE-QUIT (&KEY RECKLESSLY-P)
(QUIT :UNIX-STATUS 1 :RECKLESSLY-P RECKLESSLY-P)))
(HANDLER-CASE
(PROGN
(FORMAT *ERROR-OUTPUT* "~&Roslisp exiting due to condition: ~a~&"
CONDITION)
(FINISH-OUTPUT *ERROR-OUTPUT*)
(FAILURE-QUIT))
(CONDITION NIL (FAILURE-QUIT :RECKLESSLY-P T))))))
(UNLESS
(LET ((V (POSIX-GETENV "ROSLISP_BACKTRACE_ON_ERRORS")))
(AND (STRINGP V) (> (LENGTH V) 0)))
(SETQ *INVOKE-DEBUGGER-HOOK* #'ROSLISP-DEBUGGER-HOOK)))
;; load file
(let ((filename (third sb-ext:*posix-argv*)))
(let ((stream (open filename :direction :input))
;; remove artificial arguments
(sb-ext::*posix-argv* (cddr sb-ext::*posix-argv*)))
(unwind-protect
(progn
;; ignore shebang line
(read-line stream)
(load stream))
(close stream))))
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