def run_node(startcfg):
'''
Start a node local or on specified host using a :class:`.startcfg.StartConfig`
:param startcfg: start configuration e.g. returned by :meth:`create_start_config`
:type startcfg: :class:`fkie_node_manager_daemon.startcfg.StartConfig`
:raise exceptions.StartException: on errors
:raise exceptions.BinarySelectionRequest: on multiple binaries
:see: :meth:`fkie_node_manager.host.is_local`
'''
hostname = startcfg.hostname
nodename = roslib.names.ns_join(startcfg.namespace, startcfg.name)
if not hostname or host.is_local(hostname, wait=True):
# run on local host
# interpret arguments with path elements
args = []
for arg in startcfg.args:
new_arg = arg
if arg.startswith('$(find'):
new_arg = interpret_path(arg)
rospy.logdebug("interpret arg '%s' to '%s'" % (arg, new_arg))
args.append(new_arg)
# set name and namespace of the node
if startcfg.name:
args.append("__name:=%s" % startcfg.name)
if startcfg.namespace:
args.append("__ns:=%s" % startcfg.namespace)
# add remap arguments
for key, val in startcfg.remaps.items():
args.append("%s:=%s" % (key, val))
cmd_type = startcfg.binary_path
# get binary path from package
if not cmd_type:
try:
cmd = roslib.packages.find_node(startcfg.package,
startcfg.binary)
except (roslib.packages.ROSPkgException,
rospkg.ResourceNotFound) as e:
# multiple nodes, invalid package
rospy.logwarn("resource not found: %s" % utf8(e))
raise exceptions.ResourceNotFound(
startcfg.package, "resource not found: %s" % utf8(e))
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise exceptions.StartException(
'%s in package [%s] not found!' %
(startcfg.binary, startcfg.package))
if len(cmd) > 1:
# Open selection for executables
err = 'Multiple executables with same name in package [%s] found:' % startcfg.package
raise exceptions.BinarySelectionRequest(cmd, err)
else:
cmd_type = cmd[0]
try:
global STARTED_BINARIES
STARTED_BINARIES[nodename] = (cmd_type, os.path.getmtime(cmd_type))
except Exception:
pass
cwd = get_cwd(startcfg.cwd, cmd_type)
# set environment
new_env = dict(os.environ)
# add environment from launch
new_env.update(startcfg.env)
if startcfg.namespace:
new_env['ROS_NAMESPACE'] = startcfg.namespace
# set logging
if startcfg.logformat:
new_env['ROSCONSOLE_FORMAT'] = '%s' % startcfg.logformat
if startcfg.loglevel:
new_env['ROSCONSOLE_CONFIG_FILE'] = _rosconsole_cfg_file(
startcfg.package, startcfg.loglevel)
# handle respawn
if startcfg.respawn:
if startcfg.respawn_delay > 0:
new_env['RESPAWN_DELAY'] = '%d' % startcfg.respawn_delay
respawn_params = _get_respawn_params(startcfg.fullname,
startcfg.params)
if respawn_params['max'] > 0:
new_env['RESPAWN_MAX'] = '%d' % respawn_params['max']
if respawn_params['min_runtime'] > 0:
new_env['RESPAWN_MIN_RUNTIME'] = '%d' % respawn_params[
'min_runtime']
cmd_type = "%s %s %s" % (settings.RESPAWN_SCRIPT, startcfg.prefix,
cmd_type)
else:
cmd_type = "%s %s" % (startcfg.prefix, cmd_type)
# check for masteruri
masteruri = startcfg.masteruri
if masteruri is None:
masteruri = masteruri_from_ros()
if masteruri is not None:
if 'ROS_MASTER_URI' not in startcfg.env:
new_env['ROS_MASTER_URI'] = masteruri
# host in startcfg is a nmduri -> get host name
ros_hostname = host.get_ros_hostname(masteruri, hostname)
if ros_hostname:
addr = socket.gethostbyname(ros_hostname)
if addr in set(ip for _n, ip in DiscoverSocket.localifs()):
new_env['ROS_HOSTNAME'] = ros_hostname
# load params to ROS master
_load_parameters(masteruri, startcfg.params, startcfg.clear_params)
# start
cmd_str = utf8(
'%s %s %s' %
(screen.get_cmd(startcfg.fullname, new_env,
startcfg.env.keys()), cmd_type, ' '.join(args)))
rospy.loginfo("%s (launch_file: '%s', masteruri: %s)" %
(cmd_str, startcfg.config_path, masteruri))
rospy.logdebug("environment while run node '%s': '%s'" %
(cmd_str, new_env))
SupervisedPopen(shlex.split(cmd_str),
cwd=cwd,
env=new_env,
object_id="run_node_%s" % startcfg.fullname,
description="Run [%s]%s" %
(utf8(startcfg.package), utf8(startcfg.binary)))
else:
nmduri = startcfg.nmduri
rospy.loginfo("remote run node '%s' at '%s'" % (nodename, nmduri))
startcfg.params.update(_params_to_package_path(startcfg.params))
startcfg.args = _args_to_package_path(startcfg.args)
# run on a remote machine
channel = remote.get_insecure_channel(nmduri)
if channel is None:
raise exceptions.StartException(
"Unknown launch manager url for host %s to start %s" %
(host, startcfg.fullname))
lm = LaunchStub(channel)
lm.start_standalone_node(startcfg)
def runNode(package,
executable,
name,
args,
prefix='',
repawn=False,
masteruri=None,
loglevel=''):
'''
Runs a ROS node. Starts a roscore if needed.
'''
if not masteruri:
masteruri = masteruri_from_ros()
# start roscore, if needed
nm.StartHandler._prepareROSMaster(masteruri)
# start node
try:
cmd = roslib.packages.find_node(package, executable)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise nm.StartException(str(e))
# handle different result types str or array of string (electric / fuerte)
import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise nm.StartException(' '.join([
executable, 'in package [', package,
'] not found!\n\nThe package was created?\nIs the binary executable?\n'
]))
# create string for node parameter. Set arguments with spaces into "'".
node_params = ' '.join(''.join(["'", a, "'"]) if a.find(' ') > -1 else a
for a in args[1:])
cmd_args = [
screen.get_cmd(name), RESPAWN_SCRIPT if repawn else '', prefix, cmd[0],
node_params
]
print('run on remote host:', ' '.join(cmd_args))
# determine the current working path
arg_cwd = getCwdArg('__cwd', args)
cwd = nm.get_ros_home()
if not (arg_cwd is None):
if arg_cwd == 'ROS_HOME':
cwd = nm.get_ros_home()
elif arg_cwd == 'node':
cwd = os.path.dirname(cmd[0])
# set the masteruri to launch with other one master
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = nmdhost.get_ros_hostname(masteruri)
if ros_hostname:
addr = socket.gethostbyname(ros_hostname)
if addr in set(ip for _n, ip in DiscoverSocket.localifs()):
new_env['ROS_HOSTNAME'] = ros_hostname
if loglevel:
new_env['ROSCONSOLE_CONFIG_FILE'] = rosconsole_cfg_file(package)
subprocess.Popen(shlex.split(str(' '.join(cmd_args))),
cwd=cwd,
env=new_env)
if len(cmd) > 1:
rospy.logwarn(
'Multiple executables are found! The first one was started! Exceutables:\n%s',
str(cmd))