From f815faa1d2c95f1f36b41f7e2778e2c223ab50e3 Mon Sep 17 00:00:00 2001
From: Brian Delhaisse <briandelhaisse@gmail.com>
Date: Thu, 17 Oct 2019 09:10:50 +0200
Subject: [PATCH] fix installation issues due to librairies (ros, rbdl,
 simulators)

---
 pyrobolearn/priorities/models/__init__.py     |  6 ++++-
 pyrobolearn/simulators/__init__.py            | 27 +++++++++++++------
 .../simulators/middlewares/__init__.py        | 14 +++++++++-
 3 files changed, 37 insertions(+), 10 deletions(-)

diff --git a/pyrobolearn/priorities/models/__init__.py b/pyrobolearn/priorities/models/__init__.py
index 0dcef09..a5ff2a4 100644
--- a/pyrobolearn/priorities/models/__init__.py
+++ b/pyrobolearn/priorities/models/__init__.py
@@ -4,7 +4,11 @@
 from .model import ModelInterface
 
 # import the rbdl model interface
-from .rbdl_model import RBDLModelInterface
+try:
+    import rbdl
+    from .rbdl_model import RBDLModelInterface
+except ImportError as e:
+    print("RBDL could not be found on this system... Skipping priorities.RBDLModelInterface...")
 
 # import the robot model interface
 from .robot_model import RobotModelInterface
diff --git a/pyrobolearn/simulators/__init__.py b/pyrobolearn/simulators/__init__.py
index 4febd12..675ba27 100644
--- a/pyrobolearn/simulators/__init__.py
+++ b/pyrobolearn/simulators/__init__.py
@@ -16,32 +16,43 @@ from .simulator import Simulator
 from .bullet import Bullet
 
 # Bullet ros simulator
-from .bullet_ros import BulletROS
+# from .bullet_ros import BulletROS  # Deprecated
 
 if python_version >= 3:
     # Dart simulator
     try:
+        import dartpy
         from .dart import Dart
     except ImportError as e:
-        print("Dart not found.")
+        print("Dart could not be found on this system... Skipping prl.simulators.Dart...")
 
     # MuJoCo simulator
     try:
+        import mujoco_py
         from .mujoco import Mujoco
     except ImportError as e:
-        print("MuJoCo not found.")
+        print("MuJoCo could not be found on this system... Skipping prl.simulators.Mujoco...")
 
 # Raisim simulator
 try:
+    import raisimpy
     from .raisim import Raisim
 except ImportError as e:
-    print("Raisim not found.")
+    print("Raisim could not be found on this system... Skipping prl.simulators.Raisim...")
 
-# Vrep simulator (note that there is a currently a problem when loading pybullet with pyrep)
-# from .vrep import VREP
+# # Vrep simulator (note that there is a currently a problem when loading pybullet with pyrep)
+# try:
+#     import pyrep
+#     from .vrep import VREP
+# except ImportError as e:
+#     print("V-REP not found.")
 
-# Isaac simulator
-# from .isaac import Isaac
+# # Isaac simulator
+# try:
+#     import isaacgym
+#     from .isaac import Isaac
+# except ImportError as e:
+#     print("Isaac not found.")
 
 # Gazebo simulator
 # from .gazebo import Gazebo
diff --git a/pyrobolearn/simulators/middlewares/__init__.py b/pyrobolearn/simulators/middlewares/__init__.py
index 60500ec..74bc85b 100644
--- a/pyrobolearn/simulators/middlewares/__init__.py
+++ b/pyrobolearn/simulators/middlewares/__init__.py
@@ -4,8 +4,20 @@
 from .middleware import MiddleWare
 
 # import ROS
-from .ros import ROS
+try:
+    import rospy
+    import roslaunch
+    import rosparam
+    import rosmsg
+    import rosservice
+    import rostopic
+    import controller_manager.controller_manager_interface as cm_interface
 
+    from .ros import ROS
+except ImportError as e:
+    print("Some ROS packages were not found... Skipping prl.simulators.middlewares.ROS...")
+
+# import YARP
 
 # # define decorator
 # def middleware(function):