how to source ros packages python path in jupyter notebook

[jacknlliu]

No description provided.

[jacknlliu]

A python module will be added for this case.

like:

import sys


# source a bash script, 
# and get the environment variables in that environemnt

def source(script, update=True):
    """
    http://pythonwise.blogspot.fr/2010/04/sourcing-shell-script.html (Miki Tebeka)
    http://stackoverflow.com/questions/3503719/#comment28061110_3505826 (ahal)
    https://stackoverflow.com/a/20669683
    """
    import subprocess
    import os
    proc = subprocess.Popen(
        ['bash', '-c', 'set -a && source {} && env -0'.format(script)], 
        stdout=subprocess.PIPE, shell=False)
    output, err = proc.communicate()
    output = output.decode('utf8')
    env = dict((line.split("=", 1) for line in output.split('\x00') if line))
    if update:
        os.environ.update(env)
    return env


def import_ros_ws(ws_path, update=True):
    env = source(os.path.expanduser(ws_path) + "/devel/setup.bash")
    sys.path.append(os.environ["PYTHONPATH"])


def import_ros(ros_path=None, update=True):
    default_ros_path="/opt/ros/kinetic"
    if ros_path is None:
        env = source(os.path.expanduser(default_ros_path) + "/setup.bash")
    else:
        env = source(os.path.expanduser(ros_path) + "/setup.bash")
    sys.path.append(os.environ["PYTHONPATH"])