convert.py

#!/usr/bin/env python                                                                                                                                                                                                                                          

import xml.etree.ElementTree as ET
import sys
tree = ET.parse(sys.argv[1])
root = tree.getroot()
print root

def printRemappiing(node):
    if len(node.findall("remap")) != 0:
        print "  remappings:"
        for remap in node.findall("remap"):
            from_attr = remap.get("from")
            to_attr = remap.get("to")
            print "    - from:", from_attr
            print "      to:", to_attr
def printParams(node):
    ns = node.get("name")
    print """<group ns="%s">""" % (ns)
    for param in node.findall("param"):
        print ET.tostring(param)
    for param in node.findall("rosparam"):
        print ET.tostring(param)
    print """</group>"""

for node in root.iter("node"):
    if node.get("pkg") == "nodelet":
        args = node.get("args")
        if len(args.split(" ")) < 2:
            continue
        print "- name:", node.get("name")
        nodelet_type = args.split(" ")[1]
        print "  type:", nodelet_type
        printRemappiing(node)
    elif node.get("pkg") == "jsk_pcl_ros":
        print "- name:", node.get("name")
        nodelet_type = node.get("type")
        print "  type:", "jsk_pcl/" + nodelet_type.title().replace("_", "")
        printRemappiing(node)
    elif node.get("pkg") == "jsk_perception":
        print "- name:", node.get("name")
        nodelet_type = node.get("type")
        print "  type:", "jsk_perception/" + nodelet_type.title().replace("_", "")
        printRemappiing(node)
    elif node.get("pkg") == "jsk_topic_tools" and node.get("type") != "stanadlone_complexed_nodelet":
        print "- name:", node.get("name")
        nodelet_type = node.get("type")
        print "  type:", "jsk_topic_tools/" + nodelet_type.title().replace("_", "")
        printRemappiing(node)

for node in root.iter("node"):
    if node.get("pkg") == "nodelet":
        args = node.get("args")
        if len(args.split(" ")) < 2:
            continue
        printParams(node)
    elif node.get("pkg") == "jsk_pcl_ros":
        printParams(node)
    elif node.get("pkg") == "jsk_perception":
        printParams(node)
    elif node.get("pkg") == "jsk_topic_tools" and node.get("type") != "stanadlone_complexed_nodelet":
        printParams(node)