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rospy: #3055 support for __ns remapping

This commit is contained in:
Ken Conley 2010-10-25 09:26:18 +00:00
parent 2751c343f6
commit f003bdd331
2 changed files with 43 additions and 17 deletions
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9
core/roslib/src/roslib/names.py
View File

@ -55,14 +55,21 @@ PRIV_NAME = '~'
REMAP = ":="
ANYTYPE = '*'
def get_ros_namespace(env=None):
def get_ros_namespace(env=None, argv=None):
"""
@param env: environment dictionary (defaults to os.environ)
@type env: dict
@param argv: command-line arguments (defaults to sys.argv)
@type argv: [str]
@return: ROS namespace of current program
@rtype: str
"""
#we force command-line-specified namespaces to be globally scoped
if argv is None:
argv = sys.argv
for a in argv:
if a.startswith('__ns:='):
return make_global_ns(a[len('__ns:='):])
if env is None:
env = os.environ
return make_global_ns(env.get(ROS_NAMESPACE, GLOBALNS))

51
test/test_roslib/test/test_roslib_names.py
View File

@ -41,27 +41,46 @@ import rostest
class NamesTest(unittest.TestCase):
def test_get_ros_namespace(self):
if 'ROS_NAMESPACE' is os.environ:
if 'ROS_NAMESPACE' in os.environ:
rosns = os.environ['ROS_NAMESPACE']
del os.environ['ROS_NAMESPACE']
else:
rosns = None
self.assertEquals('/', roslib.names.get_ros_namespace())
self.assertEquals('/', roslib.names.get_ros_namespace(env={}))
sysargv = sys.argv
os.environ['ROS_NAMESPACE'] = 'unresolved'
self.assertEquals('/unresolved/', roslib.names.get_ros_namespace())
self.assertEquals('/unresolved/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': 'unresolved'}))
os.environ['ROS_NAMESPACE'] = '/resolved/'
self.assertEquals('/resolved/', roslib.names.get_ros_namespace())
self.assertEquals('/resolved/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': '/resolved'}))
del os.environ['ROS_NAMESPACE']
# restore
if rosns:
os.environ['ROS_NAMESPACE'] = rosns
try:
sys.argv = []
self.assertEquals('/', roslib.names.get_ros_namespace())
self.assertEquals('/', roslib.names.get_ros_namespace(argv=[]))
self.assertEquals('/', roslib.names.get_ros_namespace(env={}))
self.assertEquals('/', roslib.names.get_ros_namespace(env={}, argv=[]))
os.environ['ROS_NAMESPACE'] = 'unresolved'
self.assertEquals('/unresolved/', roslib.names.get_ros_namespace())
self.assertEquals('/unresolved/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': 'unresolved'}))
sys.argv = ['foo', '__ns:=unresolved_override']
self.assertEquals('/unresolved_override/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': 'unresolved'}))
self.assertEquals('/override2/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': 'unresolved'}, argv=['foo', '__ns:=override2']))
sys.argv = []
os.environ['ROS_NAMESPACE'] = '/resolved/'
self.assertEquals('/resolved/', roslib.names.get_ros_namespace())
self.assertEquals('/resolved/', roslib.names.get_ros_namespace(env={'ROS_NAMESPACE': '/resolved'}))
del os.environ['ROS_NAMESPACE']
sys.argv = ['foo', '__ns:=unresolved_ns']
self.assertEquals('/unresolved_ns/', roslib.names.get_ros_namespace())
self.assertEquals('/unresolved_ns2/', roslib.names.get_ros_namespace(argv=['foo', '__ns:=unresolved_ns2']))
sys.argv = ['foo', '__ns:=/resolved_ns/']
self.assertEquals('/resolved_ns/', roslib.names.get_ros_namespace())
self.assertEquals('/resolved_ns2/', roslib.names.get_ros_namespace(argv=['foo', '__ns:=resolved_ns2']))
finally:
sys.argv = sysargv
# restore
if rosns:
os.environ['ROS_NAMESPACE'] = rosns
def test_make_global_ns(self):
from roslib.names import make_global_ns