add ros2 pkg executables

ros2pkg/ros2pkg/api/__init__.py

@@ -12,11 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from ament_index_python import get_package_prefix
 from ament_index_python import get_packages_with_prefixes
 from ament_index_python import PackageNotFoundError
 
 
+class PackageNotFound(Exception):
+
+    def __init__(self, package_name):
+        self.package_name = package_name
+
+
 def get_package_names():
     return get_packages_with_prefixes().keys()
 
@@ -29,6 +37,24 @@ def get_prefix_path(package_name):
     return prefix_path
 
 
+def get_executable_paths(*, package_name):
+    prefix_path = get_prefix_path(package_name)
+    if prefix_path is None:
+        raise PackageNotFound(package_name)
+    base_path = os.path.join(prefix_path, 'lib', package_name)
+    executable_paths = []
+    for dirpath, dirnames, filenames in os.walk(base_path):
+        # ignore folder starting with .
+        dirnames[:] = [d for d in dirnames if d[0] not in ['.']]
+        dirnames.sort()
+        # select executable files
+        for filename in sorted(filenames):
+            path = os.path.join(dirpath, filename)
+            if os.access(path, os.X_OK):
+                executable_paths.append(path)
+    return executable_paths
+
+
 def package_name_completer(**kwargs):
     """Callable returning a list of packages names."""
     return get_package_names()

ros2pkg/ros2pkg/verb/executables.py

@@ -0,0 +1,57 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ros2pkg.api import get_executable_paths
+from ros2pkg.api import get_package_names
+from ros2pkg.api import package_name_completer
+from ros2pkg.api import PackageNotFound
+from ros2pkg.verb import VerbExtension
+
+
+class ExecutablesVerb(VerbExtension):
+    """Output a list of package specific executables."""
+
+    def add_arguments(self, parser, cli_name):
+        arg = parser.add_argument(
+            'package_name', nargs='?',
+            help='The package name')
+        arg.completer = package_name_completer
+        parser.add_argument(
+            '--full-path',
+            action='store_true',
+            default=False,
+            help='Show full path of each executable')
+
+    def main(self, *, args):
+        if args.package_name is None:
+            package_names = get_package_names()
+        else:
+            package_names = [args.package_name]
+
+        for package_name in sorted(package_names):
+            try:
+                paths = get_executable_paths(package_name=package_name)
+            except PackageNotFound:
+                if args.package_name is None:
+                    assert False, 'This should never happen'
+                raise RuntimeError(
+                    "Package '{args.package_name}' not found"
+                    .format_map(locals()))
+            for path in sorted(paths):
+                if args.full_path:
+                    print(path)
+                else:
+                    print(package_name, os.path.basename(path))

ros2pkg/setup.py

@@ -32,6 +32,7 @@
             'ros2pkg.verb = ros2pkg.verb:VerbExtension',
         ],
         'ros2pkg.verb': [
+            'executables = ros2pkg.verb.executables:ExecutablesVerb',
             'list = ros2pkg.verb.list:ListVerb',
             'prefix = ros2pkg.verb.prefix:PrefixVerb',
         ],

ros2run/ros2run/api/__init__.py

@@ -16,7 +16,8 @@
 import subprocess
 import sys
 
-from ros2pkg.api import get_prefix_path
+from ros2pkg.api import get_executable_paths
+from ros2pkg.api import PackageNotFound
 
 
 class MultipleExecutables(Exception):
@@ -25,30 +26,6 @@ def __init__(self, paths):
         self.paths = paths
 
 
-class PackageNotFound(Exception):
-
-    def __init__(self, package_name):
-        self.package_name = package_name
-
-
-def get_executable_paths(*, package_name):
-    prefix_path = get_prefix_path(package_name)
-    if prefix_path is None:
-        raise PackageNotFound(package_name)
-    base_path = os.path.join(prefix_path, 'lib', package_name)
-    executable_paths = []
-    for dirpath, dirnames, filenames in os.walk(base_path):
-        # ignore folder starting with .
-        dirnames[:] = [d for d in dirnames if d[0] not in ['.']]
-        dirnames.sort()
-        # select executable files
-        for filename in sorted(filenames):
-            path = os.path.join(dirpath, filename)
-            if os.access(path, os.X_OK):
-                executable_paths.append(path)
-    return executable_paths
-
-
 def get_executable_path(*, package_name, executable_name):
     paths = get_executable_paths(package_name=package_name)
     paths2base = {}

ros2run/ros2run/command/run.py

@@ -14,10 +14,10 @@
 
 from ros2cli.command import CommandExtension
 from ros2pkg.api import package_name_completer
+from ros2pkg.api import PackageNotFound
 from ros2run.api import ExecutableNameCompleter
 from ros2run.api import get_executable_path
 from ros2run.api import MultipleExecutables
-from ros2run.api import PackageNotFound
 from ros2run.api import run_executable