from rospkg import RosPack

# Create Ros Pack instace
rp = RosPack()

pluginlib_deb = rp.get_depends_on('pluginlib')
navcore_deb = rp.get_depends_on('nav_core')


plugin_nav_core = list(set(pluginlib_deb).intersection(navcore_deb))
print plugin_nav_core
result_bgp = []
result_blp = []
for item in plugin_nav_core:
	package_man = rp.get_manifest(item)
	exports = package_man.exports
	for exp in exports:
		attribute = exp.attrs
		if attribute.has_key('plugin'):
			plugin = attribute['plugin']
			print plugin
			if plugin.find("bgp_plugin") != -1:
				print plugin + "goes to BGP"
				result_bgp.append(item)

			if plugin.find("blp_plugin") != -1:
				print plugin + "goes to BLP"
				result_blp.append(item)

print "Base Local Planners : "
print result_blp
print "Base Global Planners : "
print result_bgp