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Allow .msg/.srv files to be in subdirectories of msg/, srv/ #325

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Allow .msg/.srv files to be in subdirectories of msg/, srv/ #325

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28 changes: 20 additions & 8 deletions ros1_bridge/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import rosidl_parser.parser

import yaml
import glob

# import rospkg which is required by rosmsg
# and likely only available for Python 2
Expand Down Expand Up @@ -244,9 +245,13 @@ def get_ros1_messages(rospack=None):
rospack = rospkg.RosPack()
msgs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_MSG))
def get_msgs(_dir):
files = rosmsg._list_types(_dir, 'msg', rosmsg.MODE_MSG)
return list(zip(files, [_dir] * len(files)))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'msg', rosmsg.MODE_MSG):
msgs.append(Message(package_name, message_name, path))
msg_files = sum([(sum([get_msgs(_dir) for _dir in dirs], []) + get_msgs(root)) for root, dirs, _ in os.walk(path)], [])
for message_name, _dir in msg_files:
msgs.append(Message(package_name, message_name, _dir))
return msgs


Expand Down Expand Up @@ -298,9 +303,13 @@ def get_ros1_services(rospack=None):
rospack = rospkg.RosPack()
srvs = []
pkgs = sorted(x for x in rosmsg.iterate_packages(rospack, rosmsg.MODE_SRV))
def get_srvs(_dir):
files = rosmsg._list_types(_dir, 'srv', rosmsg.MODE_SRV)
return list(zip(files, [_dir] * len(files)))
for package_name, path in pkgs:
for message_name in rosmsg._list_types(path, 'srv', rosmsg.MODE_SRV):
srvs.append(Message(package_name, message_name, path))
srv_files = sum([(sum([get_srvs(_dir) for _dir in dirs], []) + get_srvs(root)) for root, dirs, _ in os.walk(path)], [])
for message_name, _dir in srv_files:
srvs.append(Message(package_name, message_name, _dir))
return srvs


Expand Down Expand Up @@ -849,11 +858,14 @@ def load_ros2_message(ros2_msg):


def load_ros2_service(ros2_srv):
srv_path = os.path.join(
ros2_srv.prefix_path, 'share', ros2_srv.package_name, 'srv',
ros2_srv.message_name + '.srv')
basepath = os.path.join(ros2_srv.prefix_path, 'share', ros2_srv.package_name)
srv_filename = ros2_srv.message_name + '.srv'
# When using subdirectories inside srv/, the .srv files get installed to weird places. We use glob to find them.
locations = glob.glob(os.path.join(basepath, '**', srv_filename))
if len(locations) == 0:
return None
try:
spec = rosidl_adapter.parser.parse_service_file(ros2_srv.package_name, srv_path)
spec = rosidl_adapter.parser.parse_service_file(ros2_srv.package_name, locations[0])
except rosidl_adapter.parser.InvalidSpecification:
return None
return spec
Expand Down