Merge branch 'noetic-devel' into ros2

test/test_xacro.py

@@ -1502,6 +1502,11 @@ def test_yaml_custom_constructors_illegal_expr(self):
 </a>'''
         self.assertRaises(xacro.XacroException, self.quick_xacro, src.format(file=file))
 
+    def test_yaml_hasattr_support(self):
+        yaml = xacro.load_yaml('settings.yaml')
+        self.assertTrue(hasattr(yaml, 'arms'))
+        self.assertFalse(hasattr(yaml, 'this_key_does_not_exist'))
+
     def test_xacro_exist_required(self):
         src = '''
 <a xmlns:xacro="http://www.ros.org/wiki/xacro">

xacro/__init__.py

@@ -99,8 +99,8 @@ class YamlDictWrapper(dict):
     def __getattr__(self, item):
         try:
             return YamlListWrapper.wrap(super(YamlDictWrapper, self).__getitem__(item))
-        except KeyError:
-            raise XacroException("No such key: '{}'".format(item))
+        except KeyError:  # raise AttributeError instead to support hasattr()
+            raise AttributeError("The yaml dictionary has no key '{}'".format(item))
 
     __getitem__ = __getattr__
 
@@ -193,7 +193,7 @@ def expose(*args, **kwargs):
     expose('sorted', 'range', source=__builtins__, ns='python', deprecate_msg=deprecate_msg)
     # Expose all builtin symbols into the python namespace. Thus the stay accessible if the global symbol was overriden
     expose('list', 'dict', 'map', 'len', 'str', 'float', 'int', 'True', 'False', 'min', 'max', 'round',
-           'all', 'any', 'complex', 'divmod', 'enumerate', 'filter', 'frozenset', 'hash', 'isinstance', 'issubclass',
+           'abs', 'all', 'any', 'complex', 'divmod', 'enumerate', 'filter', 'frozenset', 'hash', 'isinstance', 'issubclass',
            'ord', 'repr', 'reversed', 'slice', 'set', 'sum', 'tuple', 'type', 'zip', source=__builtins__, ns='python')
 
     # Expose all math symbols and functions into namespace math (and directly for backwards compatibility -- w/o deprecation)