Extend workspace packages using ament index for ROS2 support

setup.py

@@ -6,7 +6,7 @@
 setup(
     name='rosdep',
     version=__version__,  # noqa:F821
-    packages=['rosdep2', 'rosdep2.platforms'],
+    packages=['rosdep2', 'rosdep2.ament_packages', 'rosdep2.platforms'],
     package_dir={'': 'src'},
     install_requires=['catkin_pkg >= 0.4.0', 'rospkg >= 1.1.8', 'rosdistro >= 0.7.0', 'PyYAML >= 3.1'],
     test_suite='nose.collector',

src/rosdep2/ament_packages/README.md

@@ -0,0 +1,5 @@
+Code within is folder is essentially copied directly from the `ament_package` repo, or more specificity the `ament_index_python` package. See original source here:
+
+https://github.com/ament/ament_index/tree/86f5a6712690830fe3e19752f70cfcdb00a3d223/ament_index_python/ament_index_python
+
+TODO: reconcile duplicate code via shared codebase

src/rosdep2/ament_packages/__init__.py

@@ -0,0 +1,27 @@
+# Copyright 2015 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.
+
+from .constants import AMENT_PREFIX_PATH_ENV_VAR
+from .constants import RESOURCE_INDEX_SUBFOLDER
+from .packages import get_packages_with_prefixes
+from .resources import get_resources
+from .search_paths import get_search_paths
+
+__all__ = [
+    'get_packages_with_prefixes',
+    'get_resources',
+    'get_search_paths',
+    'AMENT_PREFIX_PATH_ENV_VAR',
+    'RESOURCE_INDEX_SUBFOLDER',
+]

src/rosdep2/ament_packages/constants.py

@@ -0,0 +1,17 @@
+# Copyright 2015 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.
+
+
+RESOURCE_INDEX_SUBFOLDER = 'share/ament_index/resource_index'
+AMENT_PREFIX_PATH_ENV_VAR = 'AMENT_PREFIX_PATH'

src/rosdep2/ament_packages/packages.py

@@ -0,0 +1,27 @@
+# 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 .resources import get_resources
+
+
+def get_packages_with_prefixes():
+    """
+    Return a dict of package names to the prefixes in which they are found.
+
+    :returns: dict of package names to their prefixes
+    :rtype: dict
+    """
+    return get_resources('packages')

src/rosdep2/ament_packages/resources.py

@@ -0,0 +1,43 @@
+# Copyright 2015 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 .constants import RESOURCE_INDEX_SUBFOLDER
+
+from .search_paths import get_search_paths
+
+
+def get_resources(resource_type):
+    """
+    Get the resource names of all resources of the specified type.
+
+    :param resource_type: the type of the resource
+    :type resource_type: str
+    :returns: dict of resource names to the prefix path they are in
+    :raises: :exc:`EnvironmentError`
+    """
+    assert resource_type, 'The resource type must not be empty'
+    resources = {}
+    for path in get_search_paths():
+        resource_path = os.path.join(path, RESOURCE_INDEX_SUBFOLDER, resource_type)
+        if os.path.isdir(resource_path):
+            for resource in os.listdir(resource_path):
+                # Ignore subdirectories, and anything starting with a dot
+                if os.path.isdir(os.path.join(resource_path, resource)) \
+                        or resource.startswith('.'):
+                    continue
+                if resource not in resources:
+                    resources[resource] = path
+    return resources

src/rosdep2/ament_packages/search_paths.py

@@ -0,0 +1,33 @@
+# Copyright 2015 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 .constants import AMENT_PREFIX_PATH_ENV_VAR
+
+
+def get_search_paths():
+    """
+    Get the paths from the environment variable '{AMENT_PREFIX_PATH_ENV_VAR}'.
+
+    :returns: list of paths
+    :raises: :exc:`EnvironmentError`
+    """.format(AMENT_PREFIX_PATH_ENV_VAR=AMENT_PREFIX_PATH_ENV_VAR)
+    ament_prefix_path = os.environ.get(AMENT_PREFIX_PATH_ENV_VAR)
+    if not ament_prefix_path:
+        raise EnvironmentError(
+            "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR))
+
+    paths = ament_prefix_path.split(os.pathsep)
+    return [p for p in paths if p and os.path.exists(p)]

src/rosdep2/main.py

@@ -69,6 +69,9 @@
     DEFAULT_SOURCES_LIST_URL
 from .rosdistrohelper import PreRep137Warning
 
+from .ament_packages import AMENT_PREFIX_PATH_ENV_VAR
+from .ament_packages import get_packages_with_prefixes
+
 from .catkin_packages import find_catkin_packages_in
 from .catkin_packages import set_workspace_packages
 from .catkin_packages import get_workspace_packages
@@ -294,8 +297,8 @@ def _rosdep_main(args):
                       dest='ignore_src', default=False, action='store_true',
                       help="Affects the 'check', 'install', and 'keys' verbs. "
                            'If specified then rosdep will ignore keys that '
-                           'are found to be catkin packages anywhere in the '
-                           'ROS_PACKAGE_PATH or in any of the directories '
+                           'are found to be catkin or ament packages anywhere in the '
+                           'ROS_PACKAGE_PATH, AMENT_PREFIX_PATH or in any of the directories '
                            'given by the --from-paths option.')
     parser.add_option('--skip-keys',
                       dest='skip_keys', action='append', default=[],
@@ -476,6 +479,19 @@ def _package_args_handler(command, parser, options, args):
                 print('Skipping non-existent path ' + path)
         set_workspace_packages(ws_pkgs)
 
+        # Lookup package names from ament index.
+        if AMENT_PREFIX_PATH_ENV_VAR in os.environ:
+            if options.verbose:
+                print(
+                    'Searching ' + AMENT_PREFIX_PATH_ENV_VAR + ' for '
+                    'sources: ' + str(os.environ[AMENT_PREFIX_PATH_ENV_VAR].split(':')))
+            ws_pkgs = get_workspace_packages()
+            pkgs = get_packages_with_prefixes().keys()
+            ws_pkgs.extend(pkgs)
+            # Make packages list unique
+            ws_pkgs = list(set(ws_pkgs))
+            set_workspace_packages(ws_pkgs)
+
     lookup = _get_default_RosdepLookup(options)
 
     # Handle the --skip-keys option by pretending that they are packages in the catkin workspace

test/test_rosdep_main.py

@@ -42,6 +42,7 @@
 from mock import DEFAULT
 
 from rosdep2 import main
+from rosdep2.ament_packages import AMENT_PREFIX_PATH_ENV_VAR
 from rosdep2.main import rosdep_main
 from rosdep2.main import setup_proxy_opener
 
@@ -91,15 +92,19 @@ def setUp(self):
             del os.environ['ROSDEP_DEBUG']
         self.old_rr = rospkg.get_ros_root()
         self.old_rpp = rospkg.get_ros_package_path()
+        self.old_app = os.getenv(AMENT_PREFIX_PATH_ENV_VAR, None)
         if 'ROS_ROOT' in os.environ:
             del os.environ['ROS_ROOT']
         os.environ['ROS_PACKAGE_PATH'] = os.path.join(get_test_tree_dir())
+        os.environ[AMENT_PREFIX_PATH_ENV_VAR] = os.path.join(get_test_tree_dir(), 'ament')
 
     def tearDown(self):
         if self.old_rr is not None:
             os.environ['ROS_ROOT'] = self.old_rr
         if self.old_rpp is not None:
             os.environ['ROS_PACKAGE_PATH'] = self.old_rpp
+        if self.old_app is not None:
+            os.environ[AMENT_PREFIX_PATH_ENV_VAR] = self.old_app
 
     def test_bad_commands(self):
         sources_cache = get_cache_dir()

test/tree/catkin/fake_catkin_package/package.xml

@@ -0,0 +1,15 @@
+<package>
+  <name>fake_catkin_package</name>
+  <version>0.0.0</version>
+  <description>
+    This is a simple package
+  </description>
+  <maintainer email="nobody@example.org">Nobody</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>bar</build_depend>
+  <build_depend>foo</build_depend>
+  <build_depend>metapackage_with_deps</build_depend>
+</package>