def get_pid_of_node(self, node,
master=rosnode.rosgraph.Master(rosnode.ID)):
try:
# check if pid is already known
if node.pid:
return
hostname, node_api = get_hostname_of_nodes(node_name=node.name,
master=master)
# only take nodes, which are running on this machine
if hostname != self.own_hostname:
return
# read out pid of node
code, msg, pid = rosnode.ServerProxy(node_api).getPid(rosnode.ID)
if code != 1:
raise rosnode.ROSNodeException("remote call failed: '" +
node.name + "'")
node.hostname = hostname
node.pid = pid
node.error = NodeInfo.NO_ERROR
except rosnode.ROSNodeException as error:
rospy.logwarn(str(error))
except rosnode.ROSNodeIOException as error:
rospy.logerr(str(error))
except IOError as error:
if node.state == NodeData.OFFLINE:
rospy.logwarn("Connection refused '" + str(node.name) +
"'; maybe its not running any more")
else:
rospy.logerr(str(error))
def get_hostname_of_nodes(node_name,
master=rosnode.rosgraph.Master(rosnode.ID)):
# check if master is available
node_api = rosnode.get_api_uri(master, node_name, skip_cache=True)
# check if node can be found
if not node_api:
raise rosnode.ROSNodeException("cannot find node '" + str(node_name) +
"'; maybe its not running any more")
return rosnode.urlparse.urlparse(node_api).hostname, node_api
def _succeed(args):
code, msg, val = args
if code != 1:
raise rosnode.ROSNodeException("remote call failed: %s" % msg)
return val