integration_utils.py

gv_talos.py

 #!/usr/bin/env python2
 
-from argparse import ArgumentParser
 from pathlib import Path
-from subprocess import Popen
 
 import pinocchio as pin
 from pinocchio.robot_wrapper import RobotWrapper
 
-parser = ArgumentParser()
-parser.add_argument('robotpkg_prefix', nargs='?', default='/opt/openrobots')
+from integration_utils import wrap_with_processes
 
+DEPS = ['py-pinocchio', 'py-qt-gepetto-viewer-corba', 'example-robot-data']
 
-def main(robotpkg_prefix):
+
+def main(robotpkg_prefix, **kwargs):
     pkg = Path(robotpkg_prefix) / 'share/example-robot-data'
     urdf = 'talos_data/robots/talos_reduced.urdf'
     robot = RobotWrapper.BuildFromURDF(str(pkg / urdf), [str(pkg)], pin.JointModelFreeFlyer())
@@ -21,10 +20,4 @@ def main(robotpkg_prefix):
 
 
 if __name__ == '__main__':
-    gepetto_gui = Popen('gepetto-gui')
-    try:
-        main(**vars(parser.parse_args()))
-    finally:
-        gepetto_gui.terminate()
-    print('Done. Press Enter to exit')
-    raw_input()
+    wrap_with_processes(['gepetto-gui'], main, DEPS)

integration_utils.py

+from argparse import ArgumentParser
+from subprocess import CalledProcessError, Popen, check_call
+
+parser = ArgumentParser()
+parser.add_argument('robotpkg_prefix', nargs='?', default='/opt/openrobots')
+parser.add_argument('python', nargs='?', default=27)
+parser.add_argument('qt', nargs='?', default=4)
+
+
+def wrap_with_processes(processes, f, deps):
+    kwargs = vars(parser.parse_args())
+    check_installed(deps, **kwargs)
+    try:
+        plist = [Popen(process) for process in processes]
+        f(**kwargs)
+        print('Done. Press Enter to exit')
+        raw_input()
+    finally:
+        for process in plist:
+            process.terminate()
+
+
+def check_installed(pkgs, python, qt, **kwargs):
+    for pkg_name in pkgs:
+        pkg = 'robotpkg-' + pkg_name
+        pkg = pkg.replace('py-', 'py%i-' % python)
+        pkg = pkg.replace('qt-', 'qt%i-' % qt)
+        try:
+            check_call(['dpkg', '-s', pkg])
+        except CalledProcessError:
+            print('please run: sudo apt install -qqy %s' % pkg)