resolve-robotics-uri-py

Pure Python package (that only depends on Python stdlib) to resolve a package:// (ROS-style) or model:// (Gazebo-style) URI to an absolute filename.

Installation

Install using onle one of the following commands to install in an existing environment:

Installation from conda-forge

conda install -c conda-forge resolve-robotics-uri-py

Installation from PyPI

python -m pip install resolve-robotics-uri-py

Usage in Python

Add import resolve_robotics_uri_py to your Python file, then take inspiration from the following examples.

If you want to get the location of the iCubGazeboV2_7 iCub model installed from icub-models:

absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://iCub/robots/iCubGazeboV2_7/model.urdf")

If you want to get the location of the ergoCubSN00 model installed from ergocub-software:

absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://ergoCub/robots/ergoCubSN000/model.urdf")

If you want to get the location of the panda model installed by moveit_resources_panda_description:

absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://moveit_resources_panda_description/urdf/panda.urdf")

Command Line usage

resolve_robotics_uri_py also install a command line tool called resolve-robotics-uri-py for use in scripts, that can be used as:

resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf

For example, on bash this can be used to easily convert the a urdf specified via package:// to an sdf (assuming you have Gazebo installed), using the backtick operator:

gz sdf -p `resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf`

Adding Custom Search Paths

Some packages may not be installed in standard locations, or you may want to use a custom directory structure. In such cases, you have a few options:

Option 1: Modify the Native Search Paths

You can add the search path to one of the natively supported paths of Gazebo or ROS, such as:

• GZ_SIM_RESOURCE_PATH
• AMENT_PREFIX_PATH

Option 2: Specify Additional Search Paths

If you prefer not to modify the default ROS or Gazebo search paths, you can use either the --package_dirs command line option or set the RRU_ADDITIONAL_PATHS environment variable:

Using the --package_dirs Command Line Option:

resolve-robotics-uri-py --package_dirs /path/to/packages:/another/path package://my_package/model.urdf

Setting the RRU_ADDITIONAL_PATHS Environment Variable:

export RRU_ADDITIONAL_PATHS=/path/to/packages:/another/path
resolve-robotics-uri-py package://my_package/model.urdf

Both methods accept a colon-separated list of directories (or semicolon-separated on Windows).

In Python code, you can specify additional paths using the additional_package_dirs parameter:

absolute_path = resolve_robotics_uri_py.resolve_robotics_uri(
     "package://my_package/model.urdf",
     package_dirs=["/path/to/packages", "/another/path"]
)

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Please make sure to update tests as appropriate.

License

BSD-3-Clause