def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): parser = optparse.OptionParser(usage="usage: zenmaster [options]") parser.add_option("--core", dest="core", action="store_true", default=False, help="run as core") parser.add_option("-p", "--port", dest="port", default=0, help="override port", metavar="PORT") options, args = parser.parse_args(argv[1:]) # only arg that zenmaster supports is __log remapping of logfilename for arg in args: if not arg.startswith('__log:='): parser.error("unrecognized arg: %s" % arg) configure_logging() port = rosmaster.master.DEFAULT_MASTER_PORT if options.port: port = int(options.port) if not options.core: print """ ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING Standalone zenmaster has been deprecated, please use 'roscore' instead ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING """ logger = logging.getLogger("rosmaster.main") logger.info("initialization complete, waiting for shutdown") try: logger.info("Starting ROS Master Node") master = rosmaster.master.Master(port) master.start() import time while master.ok(): time.sleep(.1) except KeyboardInterrupt: logger.info("keyboard interrupt, will exit") finally: logger.info("stopping master...") master.stop() print "exiting..."
def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): parser = optparse.OptionParser(usage="usage: zenmaster [options]") parser.add_option("--core", dest="core", action="store_true", default=False, help="run as core") parser.add_option("-p", "--port", dest="port", default=0, help="override port", metavar="PORT") options, args = parser.parse_args(argv[1:]) # only arg that zenmaster supports is __log remapping of logfilename for arg in args: if not arg.startswith('__log:='): parser.error("unrecognized arg: %s"%arg) configure_logging() port = rosmaster.master.DEFAULT_MASTER_PORT if options.port: port = int(options.port) print '\n\nThis is zenmaster_sd -- uses service discovery to find other ros masters\n\n' if not options.core: print """ ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING Standalone zenmaster has been deprecated, please use 'roscore' instead ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING """ logger = logging.getLogger("rosmaster.main") logger.info("initialization complete, waiting for shutdown") try: logger.info("Starting ROS Master Node") master = rosmaster.master.Master(port) master.start() import time while master.ok(): time.sleep(.1) except KeyboardInterrupt: logger.info("keyboard interrupt, will exit") finally: logger.info("stopping master...") master.stop() print "exiting..."
def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): parser = optparse.OptionParser(usage="usage: zenmaster [options]") parser.add_option("--core", dest="core", action="store_true", default=False, help="run as core") parser.add_option("-p", "--port", dest="port", default=0, help="override port", metavar="PORT") parser.add_option("-w", "--numworkers", dest="num_workers", default=NUM_WORKERS, type=int, help="override number of worker threads", metavar="NUM_WORKERS") parser.add_option("-t", "--timeout", dest="timeout", help="override the socket connection timeout (in seconds).", metavar="TIMEOUT") options, args = parser.parse_args(argv[1:]) # only arg that zenmaster supports is __log remapping of logfilename for arg in args: if not arg.startswith('__log:='): parser.error("unrecognized arg: %s"%arg) configure_logging() port = rosmaster.master.DEFAULT_MASTER_PORT if options.port: port = int(options.port) if not options.core: print(""" ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING Standalone zenmaster has been deprecated, please use 'roscore' instead ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING ACHTUNG WARNING """) logger = logging.getLogger("rosmaster.main") logger.info("initialization complete, waiting for shutdown") if options.timeout is not None and float(options.timeout) >= 0.0: logger.info("Setting socket timeout to %s" % options.timeout) import socket socket.setdefaulttimeout(float(options.timeout)) try: logger.info("Starting ROS Master Node") master = rosmaster.master.Master(port, options.num_workers) master.start() import time while master.ok(): time.sleep(.1) except KeyboardInterrupt: logger.info("keyboard interrupt, will exit") finally: logger.info("stopping master...") master.stop()