get_package_share_directory -> FindPackageShare

husarion · May 6, 2024 · f973218 · f973218
1 parent 5b8a1ac
commit f973218
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Showing 22 changed files with 51 additions and 58 deletions.
diff --git a/rosbot_bringup/launch/bringup.launch.py b/rosbot_bringup/launch/bringup.launch.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -22,6 +21,7 @@
     PathJoinSubstitution,
 )
 from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -54,8 +54,8 @@ def generate_launch_description():
         choices=["ignition-gazebo", "gazebo-classic", "webots"],
     )
 
-    rosbot_controller = get_package_share_directory("rosbot_controller")
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_controller = FindPackageShare("rosbot_controller")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
 
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(

diff --git a/rosbot_bringup/test/test_diff_drive_ekf.py b/rosbot_bringup/test/test_diff_drive_ekf.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_bringup/test/test_mecanum_ekf.py b/rosbot_bringup/test/test_mecanum_ekf.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_bringup/test/test_multirobot_ekf.py b/rosbot_bringup/test/test_multirobot_ekf.py
@@ -17,19 +17,19 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     actions = []
     for i in range(len(robot_names)):
         bringup_launch = IncludeLaunchDescription(

diff --git a/rosbot_bringup/test/test_namespaced_diff_drive_ekf.py b/rosbot_bringup/test/test_namespaced_diff_drive_ekf.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_bringup/test/test_namespaced_mecanum_ekf.py b/rosbot_bringup/test/test_namespaced_mecanum_ekf.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_bringup = get_package_share_directory("rosbot_bringup")
+    rosbot_bringup = FindPackageShare("rosbot_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_controller/test/test_diff_drive_controllers.py b/rosbot_controller/test/test_diff_drive_controllers.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_controller/test/test_mecanum_controllers.py b/rosbot_controller/test/test_mecanum_controllers.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_controller/test/test_multirobot_controllers.py b/rosbot_controller/test/test_multirobot_controllers.py
@@ -17,19 +17,19 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, TimerAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     actions = []
     for i in range(len(robot_names)):
         controller_launch = IncludeLaunchDescription(

diff --git a/rosbot_controller/test/test_namespaced_diff_drive_controllers.py b/rosbot_controller/test/test_namespaced_diff_drive_controllers.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_controller/test/test_namespaced_mecanum_controllers.py b/rosbot_controller/test/test_namespaced_mecanum_controllers.py
@@ -17,17 +17,17 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import ControllersTestNode, controller_readings_test
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_controller = get_package_share_directory("rosbot_controller")
+    rosbot_controller = FindPackageShare("rosbot_controller")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

diff --git a/rosbot_controller/test/test_xacro.py b/rosbot_controller/test/test_xacro.py
@@ -16,7 +16,7 @@
 import os
 
 import xacro
-from ament_index_python.packages import get_package_share_directory
+from launch_ros.substitutions import FindPackageShare
 
 
 def test_rosbot_description_parsing():
@@ -45,7 +45,7 @@ def test_rosbot_description_parsing():
             "simulation_engine": simulation_engine,
             "use_multirobot_system": use_multirobot_system,
         }
-        rosbot_description = get_package_share_directory("rosbot_description")
+        rosbot_description = FindPackageShare("rosbot_description")
         xacro_path = os.path.join(rosbot_description, "urdf/rosbot.urdf.xacro")
         try:
             xacro.process_file(xacro_path, mappings=mappings)

diff --git a/rosbot_gazebo/launch/simulation.launch.py b/rosbot_gazebo/launch/simulation.launch.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -29,6 +28,7 @@
     TextSubstitution,
 )
 from launch_ros.actions import SetParameter
+from launch_ros.substitutions import FindPackageShare
 from nav2_common.launch import ParseMultiRobotPose
 
 
@@ -51,7 +51,7 @@ def launch_setup(context, *args, **kwargs):
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    get_package_share_directory("ros_gz_sim"),
+                    FindPackageShare("ros_gz_sim"),
                     "launch",
                     "gz_sim.launch.py",
                 ]
@@ -93,7 +93,7 @@ def launch_setup(context, *args, **kwargs):
                     PythonLaunchDescriptionSource(
                         PathJoinSubstitution(
                             [
-                                get_package_share_directory("rosbot_gazebo"),
+                                FindPackageShare("rosbot_gazebo"),
                                 "launch",
                                 "spawn.launch.py",
                             ]
@@ -135,7 +135,7 @@ def generate_launch_description():
         ),
     )
 
-    world_package = get_package_share_directory("husarion_office_gz")
+    world_package = FindPackageShare("husarion_office_gz")
     world_file = PathJoinSubstitution([world_package, "worlds", "husarion_world.sdf"])
     declare_world_arg = DeclareLaunchArgument(
         "world", default_value=world_file, description="SDF world file"

diff --git a/rosbot_gazebo/launch/spawn.launch.py b/rosbot_gazebo/launch/spawn.launch.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -22,6 +21,7 @@
     PythonExpression,
 )
 from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
 from nav2_common.launch import ReplaceString
 
 
@@ -58,7 +58,7 @@ def generate_launch_description():
     )
 
     gz_remappings_file = PathJoinSubstitution(
-        [get_package_share_directory("rosbot_gazebo"), "config", "gz_remappings.yaml"]
+        [FindPackageShare("rosbot_gazebo"), "config", "gz_remappings.yaml"]
     )
 
     namespaced_gz_remappings_file = ReplaceString(
@@ -110,7 +110,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    get_package_share_directory("rosbot_bringup"),
+                    FindPackageShare("rosbot_bringup"),
                     "launch",
                     "bringup.launch.py",
                 ]

diff --git a/rosbot_gazebo/test/test_diff_drive_simulation.py b/rosbot_gazebo/test/test_diff_drive_simulation.py
@@ -19,11 +19,11 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
 from test_ign_kill_utils import kill_ign_linux_processes
@@ -32,7 +32,7 @@
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_gazebo = get_package_share_directory("rosbot_gazebo")
+    rosbot_gazebo = FindPackageShare("rosbot_gazebo")
     simulation_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -47,7 +47,7 @@ def generate_test_description():
             "headless": "True",
             "world": PathJoinSubstitution(
                 [
-                    get_package_share_directory("husarion_office_gz"),
+                    FindPackageShare("husarion_office_gz"),
                     "worlds",
                     "empty_with_plugins.sdf",
                 ]

diff --git a/rosbot_gazebo/test/test_mecanum_simulation.py b/rosbot_gazebo/test/test_mecanum_simulation.py
@@ -19,11 +19,11 @@
 import launch_pytest
 import pytest
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
 from test_ign_kill_utils import kill_ign_linux_processes
@@ -32,7 +32,7 @@
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_gazebo = get_package_share_directory("rosbot_gazebo")
+    rosbot_gazebo = FindPackageShare("rosbot_gazebo")
     simulation_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -48,7 +48,7 @@ def generate_test_description():
             "headless": "True",
             "world": PathJoinSubstitution(
                 [
-                    get_package_share_directory("husarion_office_gz"),
+                    FindPackageShare("husarion_office_gz"),
                     "worlds",
                     "empty_with_plugins.sdf",
                 ]