I modified rosrun the way I imagined it (attached to this mail), so you
can try it out.
However it turns out I forgot the parameters a scripter might want to
use for his script.
So one has to allow
rosrun PACKAGE EXECUTABLE [ARGS]
rosrun ABSOLUTE_FILENAME [ARGS]
rosrun can still distinguish between those as absolute filenames need to
have a "/" in them, whereas those are forbidden for package names. At
least as long as the ROS community does not want to allow rosrun
STACK/PACKAGE EXECUTABLE [ARGS] to disambiguate packages (but I believe
ROS PACKAGE names need to be unique anyway, else plenty of tools break).
The attached files work this way, once you install the provided rosrun
in your $PATH (E.g. replace your rosrun at your own risk), and make the
lispscript executable, the following should work (it does for me):
$ ./lispscript 2 3
Test, args:
(/home/kruset/work/ros/sandbox/roslisp_support/sbcl/sbcl/bin/sbcl 2 3)
Additional output may be observable depending on your sbcl (LISP)
version, the last line is the one that counts.
You can see how rosrun passes along the command line arguments given to
the script. Of course, rosrun still does what it did for the PACKAGE
EXECUTABLE syntax. The diff to current rosrun is trivial, as my changes
are all contained in one if block. There are 2 minor TODOs left in the
comments that a better scripter than me might fill in quicker than me.
#!/usr/bin/env rosrun
;; /usr/bin/env rosrun roslisp run-roslisp-script.sh --script
(format t "Test, args: ~a~%" sb-ext:*posix-argv*)
#!/bin/bash
if [ $# -lt 1 ]; then
echo "Usage: rosrun PACKAGE EXECUTABLE [ARGS]"
echo "or: rosrun ABSOLUTE_FILENAME [ARGS]"
echo " rosrun will locate PACKAGE and try to find"
echo " an executable named EXECUTABLE in the PACKAGE tree."
echo " If it finds it, it will run it with ARGS."
echo " The second usage is only intended for shebang scripts."
exit 1
fi
# if only one arg given to rosrun, or first arg is a path not a name,
# try running absolute filename check for second shebang line first,
# by checking whether first line is shebang and invokes rosrun
if [ $# -lt 2 ] || [[ $1 =~ [a-zA-Z0-9_-.]*/[a-zA-Z0-9_-./]* ]]; then
if [ ! -e $1 ]; then
echo "Cannot find file: " $1
exit 1
fi
if [ ! -f $1 ]; then
echo "Target is a directory: " $1
exit 1
fi
if [ ! -x $1 ]; then
echo "File is not executable: " $1
exit 1
fi
numlines=0
while read line
do
if [ $numlines = 0 ]; then
firstline=$line
fi;
if [ $numlines = 1 ]; then
secondline=$line
fi;
if [ $numlines = 2 ]; then
break
fi;
numlines=$(($numlines+1));
done < $1
# matches #! ...rosrun, which includes many invalid usages
# TODO review and maybe make stricter
if [[ $firstline =~ ^#![[:space:]]?[/a-zA-Z0-9._\s-]+[[:space:]]?rosrun$ ]];
then
# second shebang line has 2 arbitrary non-blank comment symbols,
# that we cut off before invoking exec
if [[ $secondline =~ ^.. ]]
then
command=${secondline:2}
exec $command $*
else
echo "rosrun scripts require a second shebang line"
exit 1
fi
else
# let bash handle file
#TODO handle relative filenames, maybe? (not really necessary for script)
exec $1
fi
exit 0
fi
pkgdir=`${ROS_ROOT}/bin/rospack find $1` || exit 2
# The -perm /mode usage is not available in find on the Mac
#exepathlist=(`find $pkgdir -name $2 -type f -perm /u+x,g+x,o+x`)
exepathlist=(`find -H $pkgdir -name $2 -type f -perm +111 ! -regex ".*$pkgdir\/build\/.*"`)
if [[ ${#exepathlist[@]} == 0 ]] ; then
echo "[rosrun] Couldn't find executable named $2 below $pkgdir"
nonexepathlist=(`find -H $pkgdir -name $2`)
if [[ ${#nonexepathlist[@]} != 0 ]] ; then
echo "[rosrun] Found the following, but they're either not files, "
echo "[rosrun] or not executable:"
for p in ${nonexepathlist[@]}; do
echo "[rosrun] ${p}"
done
fi
exit 3
elif [[ ${#exepathlist[@]} -gt 1 ]] ; then
echo "[rosrun] You have chosen a non-unique executable, please pick one of the following:"
select opt in ${exepathlist[@]}; do
exepath=$opt
break
done
else
exepath=${exepathlist[0]}
fi
shift
shift
exec $exepath "$@"
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