merging r15310
This commit is contained in:
Ken Conley
parent
b8bd9ada3a
commit
ad18deb25f
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@ -93,80 +93,24 @@ def get_stack_dir(stack, env=None):
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@rtype: str
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@raise InvalidROSStackException: if stack cannot be located.
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"""
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# it's possible to get incorrect results from this cache
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# implementation by manipulating the environment and calling this
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# from multiple threads. as that is an unusual use case and would
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# require a slower implmentation, it's not supported. the
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# interpretation of this routine is get_stack_dir for the
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# environment this process was launched in.
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global _dir_cache_marker
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if env is None:
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env = os.environ
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if stack in _dir_cache:
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ros_root = env[ROS_ROOT]
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ros_package_path = env.get(ROS_PACKAGE_PATH, '')
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# we don't attempt to be thread-safe to environment changes,
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# however we do need to be threadsafe to cache invalidation.
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try:
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if _dir_cache_marker == (ros_root, ros_package_path):
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d = _dir_cache[stack]
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if os.path.isfile(os.path.join(d, STACK_FILE)):
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return d
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else:
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# invalidate the cache
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_dir_cache_marker = None
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_dir_cache.clear()
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except KeyError:
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pass
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_update_stack_cache(env=env) #update cache
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_init_rosstack(env=env)
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try:
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val = _dir_cache[stack]
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except KeyError:
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raise InvalidROSStackException("Cannot location installation of stack %s. ROS_ROOT[%s] ROS_PACKAGE_PATH[%s]"%(stack, env[ROS_ROOT], env.get(ROS_PACKAGE_PATH, '')))
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return val
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return _rosstack.get_path(stack)
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except rospkg.ResourceNotFound:
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# preserve old signature
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raise InvalidROSStackException(stack)
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# rosstack directory cache
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_dir_cache = {}
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# stores ROS_ROOT, ROS_PACKAGE_PATH of _dir_cache
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_dir_cache_marker = None
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_rosstack = None
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_ros_paths = None
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def _update_stack_cache(force=False, env=None):
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"""
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Update _dir_cache if environment has changed since last cache build.
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@param env: override environment variables
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@type env: {str: str}
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@param force: force cache rebuild regardless of environment variables
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@type force: bool
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"""
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global _dir_cache_marker
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def _init_rosstack(env=None):
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global _rosstack, _ros_paths
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if env is None:
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env = os.environ
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ros_root = env[ROS_ROOT]
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ros_package_path = env.get(ROS_PACKAGE_PATH, '')
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if _dir_cache_marker == (ros_root, ros_package_path):
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return
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_dir_cache.clear()
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_dir_cache_marker = ros_root, ros_package_path
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pkg_dirs = rospkg.environment.compute_package_paths(ros_root, ros_package_path)
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pkg_dirs.reverse() # cpp has reverse precedence order
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# ros is assumed to be at ROS_ROOT
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if os.path.exists(os.path.join(ros_root, 'stack.xml')):
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_dir_cache['ros'] = ros_root
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pkg_dirs.remove(ros_root)
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# pass in accumulated stacks list to each call. This ensures
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# precedence (i.e. that stacks first on pkg_dirs path win).
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stacks = []
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for pkg_root in pkg_dirs:
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# list_stacks_by_path will append list into stacks, so that
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# each call accumulates in it.
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list_stacks_by_path(pkg_root, stacks, cache=_dir_cache)
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ros_paths = rospkg.get_ros_paths(env)
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if ros_paths != _ros_paths:
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_ros_paths = ros_paths
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_rosstack = rospkg.RosStack(ros_paths)
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def list_stacks(env=None):
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"""
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@ -179,8 +123,8 @@ def list_stacks(env=None):
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@return: complete list of stacks names in ROS environment
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@rtype: [str]
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"""
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_update_stack_cache(env=env)
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return list(_dir_cache.keys()) #py3k
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_init_rosstack(env=env)
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return _rosstack.list()
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def list_stacks_by_path(path, stacks=None, cache=None):
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"""
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@ -243,8 +187,9 @@ def expand_to_packages(names, env=None):
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"""
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if env is None:
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env = os.environ
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rospack = rospkg.RosPack(ros_root=rospkg.get_ros_root(env), ros_package_path=rospkg.get_ros_package_path(env))
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rosstack = rospkg.RosStack(ros_root=rospkg.get_ros_root(env), ros_package_path=rospkg.get_ros_package_path(env))
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ros_paths = rospkg.get_ros_paths(env)
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rospack = rospkg.RosPack(ros_paths)
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rosstack = rospkg.RosStack(ros_paths)
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return rospkg.expand_to_packages(names, rospack, rosstack)
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def get_stack_version(stack, env=None):
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@ -255,7 +200,8 @@ def get_stack_version(stack, env=None):
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@return: version number of stack, or None if stack is unversioned.
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@rtype: str
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"""
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return get_stack_version_by_dir(get_stack_dir(stack, env=env))
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_init_rosstack(env=env)
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return _rosstack.get_stack_version(stack)
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def get_stack_version_by_dir(stack_dir):
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"""
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@ -234,6 +234,7 @@ class RoslibStacksTest(unittest.TestCase):
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def test_get_stack_version(self):
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from roslib.stacks import get_stack_version
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test_dir = os.path.join(roslib.packages.get_pkg_dir('test_roslib'), 'test', 'stack_tests', 's1')
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env = os.environ.copy()
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@ -274,6 +274,68 @@ function _msg_opts {
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fi
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}
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function _srv_opts {
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local arg pkgs pkgname srvname searchsrv path count opts
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if [[ $1 =~ .+/.* ]]; then
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pkgname=${1%%/*}
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srvname=${1#*/}
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searchsrv=1
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else
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pkgname=${1}
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fi
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if [[ -z ${searchsrv} ]]; then
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pkgs=(`rospack list | grep "^${pkgname}"`)
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count=0
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opts=""
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for (( i = 0 ; i < ${#pkgs[@]} ; i=i+2 )); do
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if [[ -d ${pkgs[i+1]}/srv ]]; then
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opts="$opts ${pkgs[i]}/"
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pkgname=${pkgs[i]}
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count=$((count+1))
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fi
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done
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if [[ $count -gt 1 ]]; then
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echo $opts
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return 0
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fi
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fi
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path=`rospack find ${pkgname} 2> /dev/null`
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if [ $? -eq 0 ] && [ -d ${path}/srv ]; then
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echo `find -L ${path}/srv -maxdepth 1 -mindepth 1 -name *.srv ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)\.srv/${pkgname}\/\1/g"`
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fi
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}
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function _roscomplete_rossrv {
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COMPREPLY=()
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arg="${COMP_WORDS[COMP_CWORD]}"
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if [[ $COMP_CWORD == 1 ]]; then
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opts="show users md5 package packages"
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COMPREPLY=($(compgen -W "$opts" -- ${arg}))
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elif [[ $COMP_CWORD == 2 ]]; then
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case ${COMP_WORDS[1]} in
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show|users|md5)
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opts=`_srv_opts ${COMP_WORDS[$COMP_CWORD]}`
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COMPREPLY=($(compgen -W "$opts" -- ${arg}))
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;;
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package)
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opts=`rospack list-names`
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COMPREPLY=($(compgen -W "$opts" -- ${arg}))
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;;
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packages)
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# This shouldn't really have a completion rule
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;;
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esac
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fi
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}
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function _roscomplete_search_dir {
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local arg opts pkgdir
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COMPREPLY=()
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@ -567,4 +629,5 @@ complete -F "_roscomplete_rosparam" "rosparam"
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complete -F "_roscomplete_rostopic" "rostopic"
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complete -F "_roscomplete_rosservice" "rosservice"
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complete -F "_roscomplete_rosmsg" "rosmsg"
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complete -F "_roscomplete_rossrv" "rossrv"
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complete -F "_roscomplete_roscreate_pkg" "roscreate-pkg"
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@ -33,6 +33,11 @@ complete rosmsg \
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'n@{show,users}@`rostopic list -v | grep " \* " | cut -f 4 -d " " | grep -v unknown | sed -e "s/[\d93\d91]//g"`@' \
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'n/{package,packages}/`rospack list-names`/'
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complete rossrv \
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'p/1/(show users package packages)/' \
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'n@{show,users}@`rostopic list -v | grep " \* " | cut -f 4 -d " +" | grep -v unknown | sed -e "s/[\d93\d91]//g"`@' \
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'n/{package,packages}/`rospack list-names`/'
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complete rosrun \
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'p/1/`rospack list-names`/' \
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'p@2@`rospack find $:1 | xargs -I 1 find 1 -perm /a+x -type f -printf "%f\n"`@'
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