Ament Index Plugin

Source code on GitHub.

This plugin provides CLIPS bindings for functions of ament_index_cpp.

Configuration

This plugin has no specific configuration options.

Features

Note that all functions listed below catch potential exceptions thrown by ament_index_cpp and return FALSE in that case.

Functions

(bind ?ret (ament-index-get-package-prefix ?package-name))
; example args: "cx_bringup"
; example ret:  "/opt/ros/<ros-distro>

(bind ?ret (ament-index-get-package-share-directory ?package-name))
; example args: "cx_bringup"
; example ret:  "/opt/ros/<ros-distro>/share/cx_bringup"

(bind ?ret (ament-index-get-packages-with-prefixes))
; example ret:  ("rclcpp" "/opt/ros/<ros-distro>" "cx_bringup" "/opt/ros/<ros-distro>" ...)

(bind ?ret (ament-index-has-resource ?res-type ?res-name))
; example args: "vendor_packages" "clips_vendor"
; example ret:  FALSE or a path like "/opt/ros/kited"

(bind ?ret (ament-index-get-resource ?res-type ?res-name))
; example args: "vendor_packages" "clips_vendor"
; example ret: ("opt/clips_vendor" "/opt/ros/<ros-distro>")

(bind ?ret (ament-index-get-resources ?res-type))
; example args: "vendor_packages"
; example ret: ("clips_vendor" "/opt/ros/<ros-distro>" "<other-vendor>" "<path-to-other-vendor"> ...)

(bind ?prefix (ament-index-get-search-paths))
; example ret: ("/opt/ros/<ros-distro>" "<path-to-other-prefix>" ...)

Usage Example

A minimal working example is provided by the cx_bringup package. Run it via:

ros2 launch cx_bringup cx_launch.py manager_config:=plugin_examples/ament_index.yaml

It calls all of the provided functions once and prints their output.

Configuration

File cx_bringup/params/plugin_examples/ament_index.yaml.

clips_manager:
  ros__parameters:
    environments: ["cx_ament_index"]
    cx_ament_index:
      plugins: ["ament_index", "files"]
      log_clips_to_file: true
      watch: ["facts", "rules"]

    ament_index:
      plugin: "cx::AmentIndexPlugin"
    files:
      plugin: "cx::FileLoadPlugin"
      pkg_share_dirs: ["cx_bringup"]
      batch: [
        "clips/plugin_examples/ament-index.clp"]

Code

File cx_bringup/clips/plugin_examples/ament-index.clp.

```clips (deffunction print-pairs (?pairs ?key-str ?value-str) (bind ?length (length$ ?pairs)) (bind ?index 1)

(while (< ?index (min 10 ?length)) (bind ?key (nth$ ?index ?pairs)) (bind ?value (nth$ (+ ?index 1) ?pairs)) (printout green “ “ ?key-str “: “ ?key “ “?value-str “: “ ?value crlf) (bind ?index (+ ?index 2)) ) (if (> ?length 10) then (printout green “ “ “ … “ crlf) ) ) (deffunction print-in-lines (?multi)

File truncated at 100 lines see the full file

Changelog for package cx_ament_index_plugin

0.1.3 (2025-08-06)

• 0.1.3
• Contributors: Tarik Viehmann

0.1.2 (2025-07-16)

0.1.1 (2025-07-11)

• project: prepare for first ros2 release
• Contributors: Tarik Viehmann