From af5b440289dc9b3c56a58a0219b25831235c9611 Mon Sep 17 00:00:00 2001
From: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>
Date: Wed, 2 Sep 2020 15:16:46 +0200
Subject: [PATCH 1/3] Fix rospkg dep

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index bc08070..ab15d08 100644
--- a/package.xml
+++ b/package.xml
@@ -14,7 +14,7 @@
   <exec_depend>controller_manager_msgs</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>ros_graph_parser</exec_depend>
-  <exec_depend>rospkg</exec_depend>
+  <exec_depend>python-rospkg</exec_depend>
 
   <export>
   </export>

From 29fc2b5bd1bb2b54836aed3473830dde834c11ac Mon Sep 17 00:00:00 2001
From: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>
Date: Wed, 2 Sep 2020 15:17:26 +0200
Subject: [PATCH 2/3] Fix ros_graph_parser keywords

---
 src/rosgraph_monitor/parser.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rosgraph_monitor/parser.py b/src/rosgraph_monitor/parser.py
index 0cb245e..9161851 100644
--- a/src/rosgraph_monitor/parser.py
+++ b/src/rosgraph_monitor/parser.py
@@ -87,13 +87,13 @@ def __init__(self, model, isFile=True):
         _action_servers = Keyword("RosActionServers").suppress()
         _action_server = Keyword("RosActionServer").suppress(
         ) | Keyword("RosServer").suppress()
-        _ref_server = Keyword("RefServer").suppress()
+        _ref_server = Keyword("RefServer").suppress() | Keyword("RefActionServer").suppress()
 
         # Actio Clients Def
         _action_clients = Keyword("RosActionClients").suppress()
         _action_client = Keyword("RosActionClient").suppress(
         ) | Keyword("RosClient").suppress()
-        _ref_action_client = Keyword("RefClient").suppress()
+        _ref_action_client = Keyword("RefClient").suppress() | Keyword("RefActionClient").suppress()
 
         # Topic Connections Def
         _topic_connections = Keyword("TopicConnections").suppress()

From 0f986faa226ffe467f23551b78404cefce80397e Mon Sep 17 00:00:00 2001
From: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>
Date: Wed, 2 Sep 2020 15:18:00 +0200
Subject: [PATCH 3/3] show more exception info

need to improve more
---
 src/rosgraph_monitor/parser.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rosgraph_monitor/parser.py b/src/rosgraph_monitor/parser.py
index 9161851..514f081 100644
--- a/src/rosgraph_monitor/parser.py
+++ b/src/rosgraph_monitor/parser.py
@@ -196,8 +196,8 @@ def parse(self):
                 self._parse_from_file()
             else:
                 self._parse_from_string()
-        except Exception as e:
-            print(e.args)   # Should set a default 'result'?
+        except ParseException as e:
+            print(ParseException.explain(e, depth=0))   # Should set a default 'result'?
         return self._result