[roswtf plugin] Replace with Linux-dependent command.

openni2_launch/package.xml

@@ -17,7 +17,6 @@
   <run_depend>image_proc</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>openni2_camera</run_depend>
-  <run_depend>python-usb</run_depend>   
   <run_depend>rospy</run_depend>
   <run_depend>roswtf</run_depend>  
   <run_depend>tf</run_depend>

openni2_launch/src/openni2_launch/wtf_plugin.py

@@ -30,13 +30,45 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 from __future__ import print_function
+import logging
 import re
 import subprocess
 
 import rospy
 from roswtf.rules import warning_rule, error_rule
 
 
+def _device_notfound_subproc(id_manufacturer, id_product):
+    """
+    @rtype: [dict]
+    @return: Example:
+
+                        [{'device': '/dev/bus/usb/002/004', 'tag': 'Lenovo ', 'id': '17ef:305a'},
+                         {'device': '/dev/bus/usb/002/001', 'tag': 'Linux Foundation 3.0 root hub', 'id': '1d6b:0003'},
+                         {'device': '/dev/bus/usb/001/006', 'tag': 'Validity Sensors, Inc. ', 'id': '138a:0090'},,,]
+
+    @note: This method depends on Linux command (via subprocess), which makes
+                 this command platform-dependent. Ubuntu Xenial onward, a Python module
+                 that encapsulate platform operation becomes available so this method
+                 can be wiped out. See https://github.com/ros-drivers/openni2_camera/pull/80#discussion_r193295442
+    """
+    device_re = re.compile("Bus\s+(?P<bus>\d+)\s+Device\s+(?P<device>\d+).+ID\s(?P<id>\w+:\w+)\s(?P<tag>.+)$", re.I)
+    df = subprocess.check_output("lsusb")
+    devices = []
+    for i in df.split('\n'):
+        if i:
+            info = device_re.match(i)
+            if info:
+                dinfo = info.groupdict()
+                print("dinfo: {}, dinfo.id: {}".format(dinfo, dinfo["id"]))
+                logging.debug("dinfo: {}, dinfo.id: {}".format(dinfo, dinfo["id"]))
+                if dinfo["id"] == "{}:{}".format(id_manufacturer, id_product):
+                    dinfo['device'] = "/dev/bus/usb/{}/{}".format(dinfo.pop('bus'), dinfo.pop('device'))
+                    devices.append(dinfo)
+    logging.info("#devices: {}\ndevices: {}".format(len(devices), devices))
+    return devices
+
+
 def sensor_notfound(ctx):
     """
     @summary: Check if expected number of sensors are found.
@@ -45,10 +77,12 @@ def sensor_notfound(ctx):
     """
     errors = []
     num_sensors_expected = rospy.get_param("openni2_num_sensors", 1)
+
     # TODO: The set of manufacture id and prod id is specific to Asus Xtion.
     #       There may be other openni2-based devices.
-    devices = usb.core.find(idVendor=0x1d27, idProduct=0x0601, find_all=True)
-    num_sensors = sum(1 for _ in devices)
+    devices = _device_notfound_subproc(
+        id_manufacturer="1d27", id_product="0601")
+    num_sensors = len(devices)
     if num_sensors != num_sensors_expected:
         errors.append("{} openni2 sensors found (expected: {}).".format(
             num_sensors, num_sensors_expected))