def main(self, *, parser, args):
"""Entry point for CLI program."""
mode = 'pkg file'
if args.launch_file_name is None:
# If only one argument passed, use single file mode.
mode = 'single file'
else:
# Test if first argument is a package, and if not change to single
# file mode, but only if the file exists.
try:
get_package_prefix(args.package_name)
except PackageNotFoundError:
if os.path.exists(args.package_name):
mode = 'single file'
path = None
launch_arguments = []
if mode == 'single file':
# TODO(wjwwood): figure out how to have argparse and argcomplete
# handle this, for now, hidden feature.
if os.path.exists(args.package_name):
path = args.package_name
else:
return 'No launch file supplied'
if args.launch_file_name is not None:
# Since in single file mode, the "launch file" argument is
# actually part of the launch arguments, if set.
launch_arguments.append(args.launch_file_name)
elif mode == 'pkg file':
try:
path = get_share_file_path_from_package(
package_name=args.package_name,
file_name=args.launch_file_name)
except PackageNotFoundError as exc:
raise RuntimeError(
"Package '{}' not found: {}".format(args.package_name, exc))
except (FileNotFoundError, MultipleLaunchFilesError) as exc:
raise RuntimeError(str(exc))
else:
raise RuntimeError('unexpected mode')
launch_arguments.extend(args.launch_arguments)
if args.show_all_subprocesses_output:
os.environ['OVERRIDE_LAUNCH_PROCESS_OUTPUT'] = 'both'
if args.print:
return print_a_launch_file(launch_file_path=path)
elif args.show_args:
return print_arguments_of_launch_file(launch_file_path=path)
else:
return launch_a_launch_file(
launch_file_path=path,
launch_file_arguments=launch_arguments,
noninteractive=args.noninteractive,
args=args,
option_extensions=self._option_extensions,
debug=args.debug
)
def launch(shutdown_pipe, package_name, launch_file_name, launch_arguments,
debug):
"""Launch a ROS system."""
event_loop = asyncio.new_event_loop()
asyncio.set_event_loop(event_loop)
# based on ros2launch/command/launch.py:main
if package_name is None:
single_file = True
else:
single_file = False
get_package_prefix(package_name)
path = None
launch_arguments = []
if single_file:
if os.path.exists(package_name):
path = package_name
else:
raise ValueError(package_name)
if launch_file_name is not None:
launch_arguments.append(launch_file_name)
else:
try:
path = get_share_file_path_from_package(package_name=package_name,
file_name=launch_file_name)
except PackageNotFoundError as exc:
raise RuntimeError("Package '{}' not found: {}".format(
package_name, exc))
except (FileNotFoundError, MultipleLaunchFilesError) as exc:
raise RuntimeError(str(exc))
launch_arguments.extend(launch_arguments)
launch_service = LaunchService(argv=launch_arguments, debug=debug)
launch_description = LaunchDescription([
IncludeLaunchDescription(
AnyLaunchDescriptionSource(path),
launch_arguments={},
),
])
launch_service.include_launch_description(launch_description)
finished = False
def shutdown():
while not finished and not shutdown_pipe.poll(1):
pass
launch_service.shutdown()
t = threading.Thread(target=shutdown)
t.start()
launch_service.run(shutdown_when_idle=True)
finished = True
t.join()
event_loop.close()
def main(self, *, parser, args):
"""Entry point for CLI program."""
if args.launch_file_name is None:
# TODO(wjwwood): figure out how to have argparse and argcomplete
# handle this, for now, hidden feature.
if os.path.exists(args.package_name):
path = args.package_name
else:
return 'No launch file supplied'
else:
try:
path = get_share_file_path_from_package(
package_name=args.package_name,
file_name=args.launch_file_name)
except PackageNotFoundError as exc:
raise RuntimeError("Package '{}' not found: {}".format(
args.package_name, exc))
except (FileNotFoundError, MultipleLaunchFilesError) as exc:
raise RuntimeError(str(exc))
try:
if args.print:
return print_a_python_launch_file(python_launch_file_path=path)
else:
return launch_a_python_launch_file(
python_launch_file_path=path,
launch_file_arguments=args.argv,
debug=args.debug)
except SyntaxError:
print("""
Notice: SyntaxError (or related errors) can occur if your launch file ('{}') is not a Python file.
""".format(path),
file=sys.stderr)
raise # raise so the user can see the traceback in useful SyntaxError's
except ValueError as exc:
print("""
Notice: ValueError can occur if your launch file ('{}') is a binary file and not a Python file.
""".format(path),
file=sys.stderr)
raise RuntimeError('ValueError: {}'.format(str(exc)))
except InvalidPythonLaunchFileError as exc:
# TODO(wjwwood): refactor this after we deprecate and then remove the old launch
print("""
Notice: Your launch file may have been designed to be used with an older version of ROS 2.
Or that the file you specified is Python code, but not a launch file.
""",
file=sys.stderr)
raise RuntimeError('InvalidPythonLaunchFileError: {}'.format(
str(exc)))
def main(self, *, parser, args):
"""Entry point for CLI program."""
mode = 'pkg file'
if args.launch_file_name is None:
# If only one argument passed, use single file mode.
mode = 'single file'
else:
# Test if first argument is a package, and if not change to single
# file mode, but only if the file exists.
try:
get_package_prefix(args.package_name)
except PackageNotFoundError:
if os.path.exists(args.package_name):
mode = 'single file'
path = None
launch_arguments = []
if mode == 'single file':
# TODO(wjwwood): figure out how to have argparse and argcomplete
# handle this, for now, hidden feature.
if os.path.exists(args.package_name):
path = args.package_name
else:
return 'No launch file supplied'
if args.launch_file_name is not None:
# Since in single file mode, the "launch file" argument is
# actually part of the launch arguments, if set.
launch_arguments.append(args.launch_file_name)
elif mode == 'pkg file':
try:
path = get_share_file_path_from_package(
package_name=args.package_name,
file_name=args.launch_file_name)
except PackageNotFoundError as exc:
raise RuntimeError("Package '{}' not found: {}".format(
args.package_name, exc))
except (FileNotFoundError, MultipleLaunchFilesError) as exc:
raise RuntimeError(str(exc))
else:
raise RuntimeError('unexpected mode')
launch_arguments.extend(args.launch_arguments)
try:
if args.show_all_subprocesses_output:
os.environ['OVERRIDE_LAUNCH_PROCESS_OUTPUT'] = 'both'
if args.print:
return print_a_python_launch_file(python_launch_file_path=path)
elif args.show_args:
return print_arguments_of_python_launch_file(
python_launch_file_path=path)
else:
return launch_a_python_launch_file(
python_launch_file_path=path,
launch_file_arguments=launch_arguments,
debug=args.debug)
except SyntaxError:
print("""
Notice: SyntaxError (or related errors) can occur if your launch file ('{}') is not a Python file.
""".format(path),
file=sys.stderr)
raise # raise so the user can see the traceback in useful SyntaxError's
except ValueError as exc:
print("""
Notice: ValueError can occur if your launch file ('{}') is a binary file and not a Python file.
""".format(path),
file=sys.stderr)
raise RuntimeError('ValueError: {}'.format(str(exc)))
except InvalidPythonLaunchFileError as exc:
# TODO(wjwwood): refactor this after we deprecate and then remove the old launch
print("""
Notice: Your launch file may have been designed to be used with an older version of ROS 2.
Or that the file you specified is Python code, but not a launch file.
""",
file=sys.stderr)
raise RuntimeError('InvalidPythonLaunchFileError: {}'.format(
str(exc)))
