Changed ros:📦:command() to use librospack, instead of shelling

out to rospack via popen().  Added a couple of tests for ros::package to
test_roslib.  Updated other tests in test_roslib to account for the new
dependency from roslib to rospack.

This change *should* fix the interrupted system cal bug, #1915.

core/roslib/manifest.xml

@@ -13,6 +13,7 @@
     <rosdoc config="${prefix}/rosdoc.yaml" />
   </export>
   <depend package="genmsg_cpp"/>
+  <depend package="rospack"/>
 
   <!-- for roslib.params -->
   <rosdep name="python"/>

core/roslib/src/package.cpp

@@ -26,6 +26,7 @@
  */
 
 #include "ros/package.h"
+#include "rospack/rospack.h"
 
 #include <cstdio>
 #include <iostream>
@@ -41,6 +42,7 @@ namespace package
 
 std::string command(const std::string& _cmd)
 {
+  /*
   if (!getenv("ROS_ROOT"))
   {
     std::cerr << "ROS_ROOT is not set!  Cannot execute " << _cmd << std::endl;
@@ -61,8 +63,24 @@ std::string command(const std::string& _cmd)
 
     pclose(pipe);
   }
-
   return output;
+  */
+
+  rospack::ROSPack rp;
+  int ret;
+  try
+  {
+    ret = rp.run(_cmd);
+    if(ret == 0)
+      return rp.getOutput();
+    else
+      std::cerr << "ROSPack::run returned non-zero." << std::endl;
+  }
+  catch(std::runtime_error &e)
+  {
+    std::cerr << "[rospack] " << e.what() << std::endl;
+  }
+  return std::string("");
 }
 
 void command(const std::string& cmd, V_string& output)

test/test_roslib/CMakeLists.txt

@@ -22,3 +22,5 @@ rosbuild_add_pyunit(test/test_roslib_scriptutil.py)
 rosbuild_add_pyunit(test/test_roslib_substitution_args.py)
 rosbuild_add_pyunit(test/test_roslib_xmlrpc.py)
  
+
+rosbuild_add_gtest(test/utest test/utest.cpp)

test/test_roslib/test/test_roslib_rospack.py

@@ -45,10 +45,10 @@ class RoslibRospackTest(unittest.TestCase):
         rospack_depends_on, rospack_depends_on_1
     
     val = rospackexec(['list'])
-    self.assertEquals(['genmsg_cpp'], rospack_depends('roslib'))
-    self.assertEquals(['genmsg_cpp'], rospack_depends_1('roslib'))    
+    self.assertEquals(set(['genmsg_cpp', 'rospack']), set(rospack_depends('roslib')))
+    self.assertEquals(set(['genmsg_cpp', 'rospack']), set(rospack_depends_1('roslib')))    
     self.assertEquals(set(['roslib', 'roslang']), set(rospack_depends_1('rospy')))
-    self.assertEquals(set(['roslib', 'roslang', 'genmsg_cpp']), set(rospack_depends('rospy')))
+    self.assertEquals(set(['rospack', 'roslib', 'roslang', 'genmsg_cpp']), set(rospack_depends('rospy')))
 
     val = rospack_depends_on('roslang')
     self.assert_('rospy' in val, val)

test/test_roslib/test/test_roslib_scriptutil.py

@@ -45,10 +45,10 @@ class RoslibScriptutilTest(unittest.TestCase):
         rospack_depends_on, rospack_depends_on_1
     
     val = rospackexec(['list'])
-    self.assertEquals(['genmsg_cpp'], rospack_depends('roslib'))
-    self.assertEquals(['genmsg_cpp'], rospack_depends_1('roslib'))    
+    self.assertEquals(set(['genmsg_cpp', 'rospack']), set(rospack_depends('roslib')))
+    self.assertEquals(set(['genmsg_cpp', 'rospack']), set(rospack_depends_1('roslib')))
     self.assertEquals(set(['roslib', 'roslang']), set(rospack_depends_1('rospy')))
-    self.assertEquals(set(['roslib', 'roslang', 'genmsg_cpp']), set(rospack_depends('rospy')))
+    self.assertEquals(set(['rospack', 'roslib', 'roslang', 'genmsg_cpp']), set(rospack_depends('rospy')))
 
     val = rospack_depends_on('roslang')
     self.assert_('rospy' in val, val)