robowflex::IO Namespace Reference

File and ROS Input / Output operations. More...

Classes
class	Bag
	rosbag management class to ease message saving and loading. More...
class	RobotBroadcaster
	Helper class to broadcast transform information on TF and joint states. More...
class	GNUPlotHelper
	Helper class to open a pipe to a GNUPlot instance for live visualization of data. More...
class	GNUPlotPlanDataSetOutputter
	Helper class to plot a real metric as a box plot using GNUPlot from benchmarking data. More...
class	Handler
	ROS parameter server handler to handle namespacing and automatic parameter deletion. More...
class	HDF5Data
	A container class for HDF5 DataSets loaded by an HDF5File. More...
class	HDF5File
	An HDF5 File loaded into memory. More...
class	PluginManager
	A singleton class for dynamic loading classes through pluginlib. More...
class	RVIZHelper
	RVIZ visualization helper. See Live Visualization with RViz for more information. More...

Functions
bool	isNode (const YAML::Node &node)
	Checks if a key exists within a YAML node. More...
moveit_msgs::RobotState	robotStateFromNode (const YAML::Node &node)
	Converts a robot state YAML to a robot_state message. More...
YAML::Node	toNode (const geometry_msgs::Pose &msg)
	Converts a pose message to YAML. More...
geometry_msgs::Pose	poseFromNode (const YAML::Node &node)
	Converts a pose YAML to a goemetry message. More...
YAML::Node	toNode (const moveit_msgs::PlanningScene &msg)
	Converts a planning scene message to YAML. More...
YAML::Node	toNode (const moveit_msgs::MotionPlanRequest &msg)
	Converts a motion plan request to YAML. More...
YAML::Node	toNode (const moveit_msgs::RobotTrajectory &msg)
	Converts a motion plan to YAML. More...
YAML::Node	toNode (const moveit_msgs::RobotState &msg)
	Converts a robot state to YAML. More...
bool	fromYAMLFile (moveit_msgs::PlanningScene &msg, const std::string &file)
	Loads a planning scene from a YAML file. More...
bool	fromYAMLFile (moveit_msgs::MotionPlanRequest &msg, const std::string &file)
	Loads a motion planning request from a YAML file. More...
bool	fromYAMLFile (moveit_msgs::RobotState &msg, const std::string &file)
	Loads a robot state from a YAML file. More...
std::string	generateUUID ()
	Generates a UUID. More...
std::string	resolvePackage (const std::string &path)
	Resolves package:// URLs to their canonical form. The path does not need to exist, but the package does. Can be used to write new files in packages. More...
std::set< std::string >	findPackageURIs (const std::string &string)
	Finds all package URIs within a string. More...
std::string	resolvePath (const std::string &path)
	Resolves package:// URLs and relative file paths to their canonical form. More...
std::string	resolveParent (const std::string &path)
	Resolves package:// URLs to get the directory this path is in. More...
std::string	makeFilepath (const std::string &directory, const std::string &filename)
	Concatenates two elements of a path, a directory and a filename. More...
std::string	loadXMLToString (const std::string &path)
	Loads an XML or .xacro file to a string. More...
std::string	loadXacroToString (const std::string &path)
	Loads a .xacro file to a string. More...
std::string	loadFileToString (const std::string &path)
	Loads a file to a string. More...
std::string	runCommand (const std::string &cmd)
	Runs a command cmd and returns stdout as a string. More...
std::pair< bool, YAML::Node >	loadFileToYAML (const std::string &path)
	Loads a file to a YAML node. More...
std::pair< bool, std::vector< YAML::Node > >	loadAllFromFileToYAML (const std::string &path)
	Loads a file with multiple documents to a vector of YAML nodes. More...
void	createFile (std::ofstream &out, const std::string &file)
	Creates a file and opens an output stream. Creates directories if they do not exist. More...
std::string	createTempFile (std::ofstream &out)
	Creates a temporary file and opens an output stream. More...
void	deleteFile (const std::string &file)
	Deletes a file. More...
std::pair< bool, std::vector< std::string > >	listDirectory (const std::string &directory)
	Lists of the contents of a directory. More...
std::string	getHostname ()
	Get the hostname of the system. More...
std::size_t	getProcessID ()
	Get the process ID of this process. More...
std::size_t	getThreadID ()
	Get the thread ID of the current thread. More...
boost::posix_time::ptime	getDate ()
	Get the current time (up to milliseconds) More...
double	getSeconds (boost::posix_time::ptime start, boost::posix_time::ptime finish)
	Get a duration in seconds from two times. More...
void	threadSleep (double seconds)
	Put the current thread to sleep for a desired amount of seconds. More...
template<typename T >
std::vector< T >	tokenize (const std::string &string, const std::string &separators=" ")
	Separates a string into casted tokens, based upon separators. More...
bool	YAMLToFile (const YAML::Node &node, const std::string &file)
	Write the contents of a YAML node out to a potentially new file. More...
template<typename T >
bool	messageToYAMLFile (T &msg, const std::string &file)
	Dump a message (or YAML convertable object) to a file. More...
template<typename T >
bool	YAMLFileToMessage (T &msg, const std::string &file)
	Load a message (or YAML convertable object) from a file. More...
template<typename T >
std::string	getMessageMD5 (T &msg)
	Compute MD5 hash of message. More...

Detailed Description

File and ROS Input / Output operations.

Function Documentation

createFile()

void robowflex::IO::createFile	(	std::ofstream &	out,
		const std::string &	file
	)

Creates a file and opens an output stream. Creates directories if they do not exist.

Parameters

[out]	out	Output stream to initialize.
[in]	file	File to create and open.

Definition at line 296 of file robowflex_library/src/io.cpp.

{
    boost::filesystem::path path(file);
    path = expandHome(path);
    path = expandSymlinks(path);
 
    const auto parent = path.parent_path().string();
 
    if (!parent.empty())
        boost::filesystem::create_directories(parent);
 
    out.open(path.string(), std::ofstream::out | std::ofstream::trunc);
}

createTempFile()

std::string robowflex::IO::createTempFile

(

std::ofstream &

out

)

Creates a temporary file and opens an output stream.

Parameters

[out]

out

Output stream to initialize.

Returns

Filename of temporary file.

Definition at line 310 of file robowflex_library/src/io.cpp.

{
    auto temp = boost::filesystem::unique_path();
    auto filename = "/tmp/" + temp.string();
    createFile(out, filename);
 
    return filename;
}

deleteFile()

void robowflex::IO::deleteFile

(

const std::string &

file

)

Deletes a file.

Parameters

[in]

file

File to delete.

Definition at line 319 of file robowflex_library/src/io.cpp.

{
    boost::filesystem::path path(file);
    path = expandHome(path);
    path = expandSymlinks(path);
 
    boost::filesystem::remove(path);
}

findPackageURIs()

std::set< std::string > robowflex::IO::findPackageURIs

(

const std::string &

string

)

Finds all package URIs within a string.

Parameters

[in]

string

String to search.

Returns

List of package URIs.

Definition at line 118 of file robowflex_library/src/io.cpp.

{
    const std::regex re(R"(((package):?\/)\/?([^:\/\s]+)((\/\w+)*\/)([\w\-\.]+[^#?\s]+)?)");
 
    std::set<std::string> packages;
 
    auto begin = std::sregex_iterator(string.begin(), string.end(), re);
    auto end = std::sregex_iterator();
 
    for (auto it = begin; it != end; ++it)
    {
        std::smatch sm = *it;
        std::string smstr = sm.str(3);
        packages.emplace(smstr);
    }
 
    return packages;
}

fromYAMLFile() [1/3]

bool robowflex::IO::fromYAMLFile	(	moveit_msgs::MotionPlanRequest &	msg,
		const std::string &	file
	)

Loads a motion planning request from a YAML file.

Parameters

[out]	msg	Message to load into.
[in]	file	File to load.

Returns

True on success, false on failure.

Definition at line 1919 of file yaml.cpp.

        {
            return IO::YAMLFileToMessage(msg, file);
        }

fromYAMLFile() [2/3]

bool robowflex::IO::fromYAMLFile	(	moveit_msgs::PlanningScene &	msg,
		const std::string &	file
	)

Loads a planning scene from a YAML file.

Parameters

[out]	msg	Message to load into.
[in]	file	File to load.

Returns

True on success, false on failure.

Definition at line 1914 of file yaml.cpp.

        {
            return IO::YAMLFileToMessage(msg, file);
        }

fromYAMLFile() [3/3]

bool robowflex::IO::fromYAMLFile	(	moveit_msgs::RobotState &	msg,
		const std::string &	file
	)

Loads a robot state from a YAML file.

Parameters

[out]	msg	Message to load into.
[in]	file	File to load.

Returns

True on success, false on failure.

Definition at line 1924 of file yaml.cpp.

        {
            return IO::YAMLFileToMessage(msg, file);
        }

generateUUID()

std::string robowflex::IO::generateUUID

(

)

Generates a UUID.

Returns

String of UUID.

Definition at line 284 of file robowflex_library/src/io.cpp.

{
    boost::uuids::random_generator gen;
    boost::uuids::uuid u = gen();
 
    std::string s = boost::lexical_cast<std::string>(u);
 
    std::replace(s.begin(), s.end(), '-', '_');
 
    return s;
}

getDate()

boost::posix_time::ptime robowflex::IO::getDate

(

)

Get the current time (up to milliseconds)

Returns

The time.

Definition at line 362 of file robowflex_library/src/io.cpp.

{
    return boost::posix_time::microsec_clock::local_time();
}

getHostname()

std::string robowflex::IO::getHostname

(

)

Get the hostname of the system.

Returns

String of the hostname.

Definition at line 347 of file robowflex_library/src/io.cpp.

{
    return boost::asio::ip::host_name();
}

getMessageMD5()

template<typename T >

std::string robowflex::IO::getMessageMD5

(

T &

msg

)

Compute MD5 hash of message.

Parameters

[in]

msg

Message to hash.

Template Parameters

T	Type of the message.

Returns

The hash of the message.

Definition at line 206 of file robowflex_library/include/robowflex_library/io.h.

        {
            return ros::message_traits::md5sum<T>(msg);
        }

getProcessID()

std::size_t robowflex::IO::getProcessID

(

)

Get the process ID of this process.

Returns

The process ID.

Definition at line 352 of file robowflex_library/src/io.cpp.

{
    return boost::interprocess::ipcdetail::get_current_process_id();
}

getSeconds()

double robowflex::IO::getSeconds	(	boost::posix_time::ptime	start,
		boost::posix_time::ptime	finish
	)

Get a duration in seconds from two times.

Parameters

[in]	start	The start time.
[in]	finish	The finish time.

Returns

The time in seconds.

Definition at line 367 of file robowflex_library/src/io.cpp.

{
    auto duration = finish - start;
    return duration.total_microseconds() / 1000000.;
}

getThreadID()

std::size_t robowflex::IO::getThreadID

(

)

Get the thread ID of the current thread.

Returns

The thread ID.

Definition at line 357 of file robowflex_library/src/io.cpp.

{
    return boost::interprocess::ipcdetail::get_current_thread_id();
}

isNode()

bool robowflex::IO::isNode

(

const YAML::Node &

node

)

Checks if a key exists within a YAML node.

Parameters

[in]

node

Node to check.

Returns

True if the node exists and is not null.

Definition at line 1847 of file yaml.cpp.

        {
            try
            {
                bool r = node.IsDefined() and not node.IsNull();
                if (r)
                    try
                    {
                        r = node.as<std::string>() != "~";
                    }
                    catch (std::exception &e)
                    {
                    }
 
                return r;
            }
            catch (YAML::InvalidNode &e)
            {
                return false;
            }
        }

listDirectory()

std::pair< bool, std::vector< std::string > > robowflex::IO::listDirectory

(

const std::string &

directory

)

Lists of the contents of a directory.

Parameters

[in]

directory

Directory to list.

Returns

A pair of a bool and a vector of strings of filenames of the directories contents. The first element will be true on success, false on failure. These filenames are absolute paths.

Definition at line 328 of file robowflex_library/src/io.cpp.

{
    std::vector<std::string> contents;
 
    const std::string full_path = resolvePath(directory);
    if (full_path.empty())
        return std::make_pair(false, contents);
 
    boost::filesystem::path path(full_path);
    if (!boost::filesystem::is_directory(path))
        return std::make_pair(false, contents);
 
    for (auto it = boost::filesystem::directory_iterator(path); it != boost::filesystem::directory_iterator();
         ++it)
        contents.emplace_back(expandPath(it->path()).string());
 
    return std::make_pair(true, contents);
}

loadAllFromFileToYAML()

std::pair< bool, std::vector< YAML::Node > > robowflex::IO::loadAllFromFileToYAML

(

const std::string &

path

)

Loads a file with multiple documents to a vector of YAML nodes.

Parameters

[in]

path

File to load.

Returns

A pair, where the first is true on success false on failure, and second is the vector of YAML nodes.

Definition at line 250 of file robowflex_library/src/io.cpp.

{
    std::vector<YAML::Node> file;
    const std::string full_path = resolvePath(path);
    if (full_path.empty())
        return std::make_pair(false, file);
 
    if (!isExtension(full_path, "yml") && !isExtension(full_path, "yaml"))
        return std::make_pair(false, file);
 
    try
    {
        return std::make_pair(true, YAML::LoadAllFromFile(full_path));
    }
    catch (std::exception &e)
    {
        return std::make_pair(false, file);
    }
}

loadFileToString()

std::string robowflex::IO::loadFileToString

(

const std::string &

path

)

Loads a file to a string.

Parameters

[in]

path

File to load.

Returns

The loaded file, or "" on failure (file does not exist).

Definition at line 164 of file robowflex_library/src/io.cpp.

{
    const std::string full_path = resolvePath(path);
    if (full_path.empty())
        return "";
 
    std::ifstream ifs(full_path.c_str(), std::ios::in | std::ios::binary | std::ios::ate);
 
    std::ifstream::pos_type size = ifs.tellg();
    ifs.seekg(0, std::ios::beg);
 
    std::vector<char> bytes(size);
    ifs.read(bytes.data(), size);
 
    return std::string(bytes.data(), size);
}

loadFileToYAML()

std::pair< bool, YAML::Node > robowflex::IO::loadFileToYAML

(

const std::string &

path

)

Loads a file to a YAML node.

Parameters

[in]

path

File to load.

Returns

A pair, where the first is true on success false on failure, and second is the YAML node.

Definition at line 230 of file robowflex_library/src/io.cpp.

{
    YAML::Node file;
    const std::string full_path = resolvePath(path);
    if (full_path.empty())
        return std::make_pair(false, file);
 
    if (!isExtension(full_path, "yml") && !isExtension(full_path, "yaml"))
        return std::make_pair(false, file);
 
    try
    {
        return std::make_pair(true, YAML::LoadFile(full_path));
    }
    catch (std::exception &e)
    {
        return std::make_pair(false, file);
    }
}

loadXacroToString()

std::string robowflex::IO::loadXacroToString

(

const std::string &

path

)

Loads a .xacro file to a string.

Parameters

[in]

path

File to load.

Returns

The loaded file, or "" on failure (file does not exist or .xacro is malformed).

Definition at line 201 of file robowflex_library/src/io.cpp.

{
    const std::string full_path = resolvePath(path);
    if (full_path.empty())
        return "";
 
    std::string cmd = "rosrun xacro xacro ";
 
#if ROBOWFLEX_AT_LEAST_MELODIC
#else
    cmd += "--inorder ";
#endif
 
    cmd += full_path;
    return runCommand(cmd);
}

loadXMLToString()

std::string robowflex::IO::loadXMLToString

(

const std::string &

path

)

Loads an XML or .xacro file to a string.

Parameters

[in]

path

File to load.

Returns

The loaded file, or "" on failure (file does not exist or .xacro is malformed).

Definition at line 218 of file robowflex_library/src/io.cpp.

{
    const std::string full_path = resolvePath(path);
    if (full_path.empty())
        return "";
 
    if (isExtension(full_path, "xacro"))
        return loadXacroToString(full_path);
 
    return loadFileToString(full_path);
}

makeFilepath()

std::string robowflex::IO::makeFilepath	(	const std::string &	directory,
		const std::string &	filename
	)

Concatenates two elements of a path, a directory and a filename.

Parameters

[in]	directory	Path to use as directory. If there are other elements at the end of the directory path, they will be removed.
[in]	filename	Filename to add.

Returns

The canonical path for this path.

Definition at line 156 of file robowflex_library/src/io.cpp.

{
    boost::filesystem::path dirpath = resolveParent(directory);
    dirpath /= filename;
 
    return dirpath.string();
}

messageToYAMLFile()

template<typename T >

bool robowflex::IO::messageToYAMLFile	(	T &	msg,
		const std::string &	file
	)

Dump a message (or YAML convertable object) to a file.

Parameters

[in]	msg	Message to dump.
[in]	file	File to dump message to.

Template Parameters

T	Type of the message.

Returns

True on success, false on failure.

Definition at line 176 of file robowflex_library/include/robowflex_library/io.h.

        {
            YAML::Node yaml;
            yaml = msg;
 
            return YAMLToFile(yaml, file);
        }

poseFromNode()

geometry_msgs::Pose robowflex::IO::poseFromNode

(

const YAML::Node &

node

)

Converts a pose YAML to a goemetry message.

Parameters

[in]

node

Node to convert.

Returns

The converted message.

Definition at line 1881 of file yaml.cpp.

        {
            return node.as<geometry_msgs::Pose>();
        }

resolvePackage()

std::string robowflex::IO::resolvePackage

(

const std::string &

path

)

Resolves package:// URLs to their canonical form. The path does not need to exist, but the package does. Can be used to write new files in packages.

Parameters

[in]

path

Path to resolve.

Returns

The canonical path, or "" on failure.

Definition at line 88 of file robowflex_library/src/io.cpp.

{
    if (path.empty())
        return "";
 
    const std::string prefix = "package://";
 
    boost::filesystem::path file;
    if (isPrefix(prefix, path))
    {
        boost::filesystem::path subpath(path.substr(prefix.length(), path.length() - 1));
        const std::string package_name = (*subpath.begin()).string();
 
        const std::string package = ros::package::getPath(package_name);
        if (package.empty())
        {
            RBX_WARN("Package `%s` does not exist.", package_name);
            return "";
        }
 
        file = package;
        for (auto it = ++subpath.begin(); it != subpath.end(); ++it)
            file /= *it;
    }
    else
        file = path;
 
    return expandPath(file).string();
}

resolveParent()

std::string robowflex::IO::resolveParent

(

const std::string &

path

)

Resolves package:// URLs to get the directory this path is in.

Parameters

[in]

path

Path to get the parent of.

Returns

The directory that this path is contained in, or "" on failure.

Definition at line 150 of file robowflex_library/src/io.cpp.

{
    boost::filesystem::path file = resolvePackage(path);
    return file.parent_path().string();
}

resolvePath()

std::string robowflex::IO::resolvePath

(

const std::string &

path

)

Resolves package:// URLs and relative file paths to their canonical form.

Parameters

[in]

path

Path to resolve.

Returns

The canonical path, or "" on failure.

Definition at line 137 of file robowflex_library/src/io.cpp.

{
    boost::filesystem::path file = resolvePackage(path);
 
    if (!boost::filesystem::exists(file))
    {
        RBX_WARN("File `%s` does not exist.", path);
        return "";
    }
 
    return boost::filesystem::canonical(boost::filesystem::absolute(file)).string();
}

robotStateFromNode()

moveit_msgs::RobotState robowflex::IO::robotStateFromNode

(

const YAML::Node &

node

)

Converts a robot state YAML to a robot_state message.

Parameters

[in]

node

Node to convert.

Returns

The converted message.

Definition at line 1869 of file yaml.cpp.

        {
            return node.as<moveit_msgs::RobotState>();
        }

runCommand()

std::string robowflex::IO::runCommand

(

const std::string &

cmd

)

Runs a command cmd and returns stdout as a string.

Parameters

[in]

cmd

Command to run.

Returns

Contents of stdout from cmd, or "" on failure.

Definition at line 181 of file robowflex_library/src/io.cpp.

{
    std::array<char, 128> buffer;
    std::string result;
    std::shared_ptr<FILE> pipe(popen(cmd.c_str(), "r"), pclose);
    if (!pipe)
    {
        RBX_ERROR("Failed to run command `%s`!", cmd);
        return "";
    }
 
    while (!feof(pipe.get()))
    {
        if (fgets(buffer.data(), 128, pipe.get()) != nullptr)
            result += buffer.data();
    }
 
    return result;
}

threadSleep()

void robowflex::IO::threadSleep

(

double

seconds

)

Put the current thread to sleep for a desired amount of seconds.

Parameters

[in]

seconds

Seconds to sleep for.

Definition at line 373 of file robowflex_library/src/io.cpp.

{
    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<long int>(seconds * 1000)));
}

tokenize()

template<typename T >

template std::vector< double > robowflex::IO::tokenize	(	const std::string &	string,
		const std::string &	separators = " "
	)

Separates a string into casted tokens, based upon separators.

Template Parameters

The	type of element to cast strings into.

Parameters

[in]	string	String to tokenize.
[in]	separators	Separators to split string on.

Returns

The tokenized string.

Definition at line 379 of file robowflex_library/src/io.cpp.

{
    boost::char_separator<char> seps(separators.c_str());
    boost::tokenizer<boost::char_separator<char>> tokenizer(s, seps);
 
    std::vector<T> values;
    std::transform(tokenizer.begin(), tokenizer.end(), std::back_inserter(values),
                   [](const std::string &s) { return boost::lexical_cast<T>(s); });
 
    return std::vector<T>();
}

toNode() [1/5]

YAML::Node robowflex::IO::toNode

(

const geometry_msgs::Pose &

msg

)

Converts a pose message to YAML.

Parameters

[in]

msg

Message to convert.

Returns

The converted message.

Definition at line 1874 of file yaml.cpp.

        {
            YAML::Node node;
            node = msg;
            return node;
        }

toNode() [2/5]

YAML::Node robowflex::IO::toNode

(

const moveit_msgs::MotionPlanRequest &

msg

)

Converts a motion plan request to YAML.

Parameters

[in]

msg

Message to convert.

Returns

The converted message.

Definition at line 1893 of file yaml.cpp.

        {
            YAML::Node node;
            node = msg;
            return node;
        }

toNode() [3/5]

YAML::Node robowflex::IO::toNode

(

const moveit_msgs::PlanningScene &

msg

)

Converts a planning scene message to YAML.

Parameters

[in]

msg

Message to convert.

Returns

The converted message.

Definition at line 1886 of file yaml.cpp.

        {
            YAML::Node node;
            node = msg;
            return node;
        }

toNode() [4/5]

YAML::Node robowflex::IO::toNode

(

const moveit_msgs::RobotState &

msg

)

Converts a robot state to YAML.

Parameters

[in]

msg

Message to convert.

Returns

The converted message.

Definition at line 1907 of file yaml.cpp.

        {
            YAML::Node node;
            node = msg;
            return node;
        }

toNode() [5/5]

YAML::Node robowflex::IO::toNode

(

const moveit_msgs::RobotTrajectory &

msg

)

Converts a motion plan to YAML.

Parameters

[in]

msg

Message to convert.

Returns

The converted message.

Definition at line 1900 of file yaml.cpp.

        {
            YAML::Node node;
            node = msg;
            return node;
        }

YAMLFileToMessage()

template<typename T >

bool robowflex::IO::YAMLFileToMessage	(	T &	msg,
		const std::string &	file
	)

Load a message (or YAML convertable object) from a file.

Parameters

[out]	msg	Message to load into.
[in]	file	File to load message from.

Template Parameters

T	Type of the message.

Returns

True on success, false on failure.

Definition at line 191 of file robowflex_library/include/robowflex_library/io.h.

        {
            const auto &result = IO::loadFileToYAML(file);
            if (result.first)
                msg = result.second.as<T>();
 
            return result.first;
        }

YAMLToFile()

bool robowflex::IO::YAMLToFile	(	const YAML::Node &	node,
		const std::string &	file
	)

Write the contents of a YAML node out to a potentially new file.

Parameters

[in]	node	Node to write.
[in]	file	Filename to open.

Returns

True on success, false otherwise.

Definition at line 270 of file robowflex_library/src/io.cpp.

{
    YAML::Emitter out;
    out << node;
 
    std::ofstream fout;
    IO::createFile(fout, file);
 
    fout << out.c_str();
    fout.close();
 
    return true;
}