def _get_topic_type(topic):
"""
subroutine for getting the topic type
:returns: topic type, real topic name and fn to evaluate the message instance
if the topic points to a field within a topic, e.g. /rosout/msg, ``(str, str, fn)``
"""
try:
val = _master_get_topic_types(rosgraph.Master('/rostopic'))
except socket.error:
raise ROSTopicIOException("Unable to communicate with master!")
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val
if topic.startswith(t + '/')]
# choose longest match
matches.sort(key=itemgetter(0), reverse=True)
if matches:
t, t_type = matches[0]
if t_type == rosgraph.names.ANYTYPE:
return None, None, None
return t_type, t, msgevalgen(topic[len(t):])
else:
return None, None, None
def rosnode_cleanup():
"""
This is a semi-hidden routine for cleaning up stale node
registration information on the ROS Master. The intent is to
remove this method once Master TTLs are properly implemented.
"""
pinged, unpinged = rosnode_ping_all()
if unpinged:
master = rosgraph.Master(ID)
print("Unable to contact the following nodes:")
print('\n'.join(' * %s' % n for n in unpinged))
print(
"Warning: these might include alive and functioning nodes, e.g. in unstable networks."
)
print(
"Cleanup will purge all information about these nodes from the master."
)
print("Please type y or n to continue:")
input = sys.stdin.readline()
while not input.strip() in ['y', 'n']:
input = sys.stdin.readline()
if input.strip() == 'n':
print('aborting')
return
cleanup_master_blacklist(master, unpinged)
print("done")
def get_process_for_ros_node(self, node_name):
target_node = None
caller_id = '/experiment_manager'
master = rosgraph.Master(caller_id)
running_nodes = rosnode.get_node_names()
for node in running_nodes:
if node_name in node:
if target_node is None:
target_node = node
else:
rospy.logwarn("Multiple nodes found whose name "
"contains " + node_name)
return None
if target_node is None:
rospy.logwarn("Could not find a node whose name contains " +
node_name)
return None
target_node_api = rosnode.get_api_uri(master, target_node)
if not target_node_api:
rospy.logwarn("Could not connect to " + target_node + "'s API")
return None
target_node = ServerProxy(target_node_api)
target_node_pid = rosnode._succeed(
target_node.getPid(caller_id)) # NOLINT
rospy.loginfo('Registered %s node PID %i for resource '
'usage tracking' % (node_name, target_node_pid))
return psutil.Process(target_node_pid)
def get_machines_by_nodes():
"""
Find machines connected to nodes. This is a very costly procedure as it
must do N lookups with the Master, where N is the number of nodes.
@return: list of machines connected
@rtype: [str]
@raise ROSNodeIOException: if unable to communicate with master
"""
master = rosgraph.Master(ID)
# get all the node names, lookup their uris, parse the hostname
# from the uris, and then compare the resolved hostname against
# the requested machine name.
machines = []
node_names = get_node_names()
for n in node_names:
try:
uri = master.lookupNode(n)
h = urlparse.urlparse(uri).hostname
if h not in machines:
machines.append(h)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
except rosgraph.MasterError:
# it's possible that the state changes as we are doing lookups. this is a soft-fail
continue
return machines
def _sub_rosnode_listnodes(namespace=None, list_uri=False, list_all=False):
"""
Subroutine for rosnode_listnodes(). Composes list of strings to print to screen.
@param namespace: (default None) namespace to scope list to.
@type namespace: str
@param list_uri: (default False) return uris of nodes instead of names.
@type list_uri: bool
@param list_all: (default False) return names and uris of nodes as combined strings
@type list_all: bool
@return: new-line separated string containing list of all nodes
@rtype: str
"""
master = rosgraph.Master(ID)
nodes = get_node_names(namespace)
nodes.sort()
if list_all:
return '\n'.join([
"%s \t%s" % (get_api_uri(master, n) or 'unknown address', n)
for n in nodes
])
elif list_uri:
return '\n'.join([(get_api_uri(master, n) or 'unknown address')
for n in nodes])
else:
return '\n'.join(nodes)
def is_ros_running():
try:
rosgraph.Master("/rostopic").getPid()
except socket.error:
return False
return True
def __init__(self, node_name):
self.node_name = node_name
if "ROS_MASTER_URI" not in os.environ:
os.environ["ROS_MASTER_URI"] = GazeboHandler.DEFAULT_MASTER_URI
logger.warning(
'ROS master URI not defined. Setting {} as default ROS master'.
format(GazeboHandler.DEFAULT_MASTER_URI))
try:
rosgraph.Master('/rostopic').getPid()
logger.info('ROS master communication: ok')
except socket.error as e:
logging.error("Unable to communicate with ROS master!")
raise e
try:
rospy.init_node(node_name, anonymous=True)
logger.info("{}: gym ROS node created.".format(node_name))
except rospy.exceptions.ROSException as re:
logger.error(
"{}: exception raised creating gym ROS node. {}".format(
node_name, re))
raise re
self.un_pause_service = rospy.ServiceProxy('/gazebo/unpause_physics',
Empty)
self.pause_service = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
self.reset_service = rospy.ServiceProxy('/gazebo/reset_simulation',
Empty)
self.reset_world_service = rospy.ServiceProxy(
'/gazebo/reset_simulation', Empty)
self.set_model_state = rospy.ServiceProxy("/gazebo/set_model_state",
SetModelState)
def probe_all_services(ctx):
master = rosgraph.Master('/roswtf')
errors = []
for service_name in ctx.services:
try:
service_uri = master.lookupService(service_name)
except:
ctx.errors.append(
WtfError("cannot contact ROS Master at %s" %
rosgraph.rosenv.get_master_uri()))
raise WtfException(
"roswtf lost connection to the ROS Master at %s" %
rosgraph.rosenv.get_master_uri())
try:
headers = rosservice.get_service_headers(service_name, service_uri)
if not headers:
errors.append("service [%s] did not return service headers" %
service_name)
except rosgraph.network.ROSHandshakeException as e:
errors.append("service [%s] appears to be malfunctioning" %
service_name)
except Exception as e:
errors.append("service [%s] appears to be malfunctioning: %s" %
(service_name, e))
return errors
def __init__(self):
#: rosgraph.Master: master API instance
self.master = rosgraph.Master(rospy.get_name())
#: dict: dict structure of connections, by type.
self.connections = create_empty_connection_type_dictionary(
connection_types)
def main():
rospy.init_node('start_user_mon', anonymous=True)
try:
from xmlrpc.client import ServerProxy
except ImportError:
from xmlrpclib import ServerProxy
ID = '/rosnode'
master = rosgraph.Master(ID, master_uri=None)
global process, loc
process = {}
loc = rospy.get_param("/script_location")
while not rospy.is_shutdown():
nodes = rosnode.get_node_names()
for node in nodes:
name = " " + node
name = name[2:]
node_api = rosnode.get_api_uri(master, node)
if not node_api:
continue
node = ServerProxy(node_api)
pid = rosnode._succeed(node.getPid(ID))
if process.has_key(pid):
continue
process[pid] = name
print("nohup " + loc + "/usage-mon " + str(pid) + " " + name +
" &")
os.system("nohup " + loc + "/usage-mon " + str(pid) + " " + name +
" &")
def getString(topic):
try:
val = rosgraph.Master('/rostopic').getTopicTypes()
except socket.error:
raise ROSTopicIOException("Unable to communicate with master!")
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val if topic.startswith(t+'/')]
# choose longest match
matches.sort(key=itemgetter(0), reverse=True)
if matches:
msg = matches[0][1]
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg, e))
str = spec_to_str(context,spec)
str = str.replace('\n',' ')
str = ' '.join(str.split())
return str
def resolve_local_gateway(timeout=rospy.rostime.Duration(1.0)):
'''
@param timeout : timeout on checking for the gateway.
@type rospy.rostime.Duration
@raise rocon_python_comms.NotFoundException: if no remote gateways or no matching gateways available.
'''
master = rosgraph.Master(rospy.get_name())
gateway_namespace = None
timeout_time = time.time() + timeout.to_sec()
while not rospy.is_shutdown() and time.time() < timeout_time:
unused_publishers, unused_subscribers, services = master.getSystemState(
)
for service in services:
service_name = service[0] # second part is the node name
if re.search(r'remote_gateway_info', service_name):
if service_name == '/remote_gateway_info':
gateway_namespace = "/"
break
else:
gateway_namespace = re.sub(r'/remote_gateway_info', '',
service_name)
break
if gateway_namespace is not None:
break
else:
rospy.rostime.wallsleep(0.1)
if not gateway_namespace:
raise rocon_python_comms.NotFoundException(
"could not find a local gateway - did you start it?")
#console.debug("Found a local gateway at %s"%gateway_namespace)
return gateway_namespace
def _getOpenCameras():
poweredCameras = dict([(cam, False)
for cam in CameraController._validCameras])
streamingCameras = dict([(cam, False)
for cam in CameraController._validCameras])
# Using Cameras List service, get cameras that are recieving power
rospy.wait_for_service('cameras/list')
listService = rospy.ServiceProxy('cameras/list', ListCameras)
try:
resp = listService()
for cam in resp.cameras:
poweredCameras[cam] = True
except rospy.ServiceException as err:
raise OSError("error listing cameras: {}".format(err))
# NOTE (amal): it turns out to be unnecessary to know the streamingCameras
# given how Baxter RSDK 1.1 works. Read the Readme for more details.
# Using Rostopics, get the cameras that are currently streaming
try:
topics = rosgraph.Master('/rostopic').getPublishedTopics(
'/cameras')
for topic in topics:
for cam in CameraController._validCameras:
camTopic = "/cameras/%s/image" % cam
if camTopic == topic[0]:
streamingCameras[cam] = True
except socket.error:
raise ROSTopicIOException("Cannot communicate with master")
return poweredCameras, streamingCameras
def get_topic_type_info(topic_name):
"""
subroutine for getting topic type information
(nearly identical to rostopic._get_topic_type, except it returns rest of name instead of fn)
:param topic_name: topic name of interest
:type topic_name: str
:returns: topic type, real topic name, and rest of name referenced
if the topic points to a field within a topic, e.g. /rosout/msg, ``str, str, str``
"""
try:
node_name = rospy.get_name()
master = rosgraph.Master(node_name)
val = master.getTopicTypes()
except:
raise ROSException("unable to get list of topics from master")
matches = [(t, t_type) for t, t_type in val
if t == topic_name or topic_name.startswith(t + '/')]
if matches:
t, t_type = matches[0]
if t_type == roslib.names.ANYTYPE:
return None, None, None
if t_type == topic_name:
return t_type, None
return t_type, t, topic_name[len(t):]
else:
return None, None, None
def __init__(self):
try:
rosgraph.Master('/rostopic').getPid()
except Exception, e:
print("Unable to communicate with master!")
print("Try start ROSCORE or ROSLAUNCH some project")
sys.exit(0)
def __init__(self, ros_master_uri, node_name, user_message_callback=None):
self._user_message_callback = user_message_callback
# set the ROS master uri that rospy will use
os.environ['ROS_MASTER_URI'] = ros_master_uri
# install an ugly hack to keep us from subscribing to ourselves
_my_rospy_uri = None
_orig_rospy_connect_cb = rospy.impl.registration.RegManager._connect_topic_thread
def _subscribe_hack(self, topic, uri):
if uri == _my_rospy_uri:
return
return _orig_rospy_connect_cb(self, topic, uri)
rospy.impl.registration.RegManager._connect_topic_thread = _subscribe_hack
rospy.init_node(node_name, anonymous=True)
self._topics = {}
self._topics_lock = threading.Lock()
self._node_name = rospy.get_name()
# create class for interfacing with the ROS master
caller_id = rospy.get_caller_id()
self._master = rosgraph.Master(caller_id)
print 'My URI is: %s' % self._master.lookupNode(caller_id)
_my_rospy_uri = self._master.lookupNode(caller_id)
def __init__(self):
local_uri = rosgraph.get_master_uri()
foreign_uri = rospy.get_param('~foreign_master', None)
if not foreign_uri:
raise Exception('foreign_master URI not specified')
local_pubs = rospy.get_param('~local_pubs', [])
foreign_pubs = rospy.get_param('~foreign_pubs', [])
self._local_services = rospy.get_param('~local_services', [])
self._foreign_services = rospy.get_param('~foreign_services', [])
self.foreign_master = rosgraph.Master(rospy.get_name(), master_uri=foreign_uri)
r = rospy.Rate(1)
while not self.is_master_up(self.foreign_master) and not rospy.is_shutdown():
rospy.logdebug('Waiting for foreign master to come up...')
r.sleep()
self._local_manager = None
self._foreign_manager = None
if not rospy.is_shutdown():
self._local_manager = _RemoteManager(local_uri, self._local_publisher_update)
self._foreign_manager = _RemoteManager(foreign_uri, self._foreign_publisher_update)
for t in local_pubs:
self._local_manager.subscribe(t)
for t in foreign_pubs:
self._foreign_manager.subscribe(t)
def __init__(self):
super(TopicSelection, self).__init__()
master = rosgraph.Master('rqt_bag_recorder')
self.setWindowTitle("Select the topics you want to record")
self.resize(500, 700)
self.topic_list = []
self.selected_topics = []
self.items_list = []
self.area = QScrollArea(self)
self.main_widget = QWidget(self.area)
self.ok_button = QPushButton("Record", self)
self.ok_button.clicked.connect(self.onButtonClicked)
self.ok_button.setEnabled(False)
self.main_vlayout = QVBoxLayout(self)
self.main_vlayout.addWidget(self.area)
self.main_vlayout.addWidget(self.ok_button)
self.setLayout(self.main_vlayout)
self.selection_vlayout = QVBoxLayout(self)
self.item_all = QCheckBox("All", self)
self.item_all.stateChanged.connect(self.updateList)
self.selection_vlayout.addWidget(self.item_all)
topic_data_list = master.getPublishedTopics('')
topic_data_list.sort()
for topic, datatype in topic_data_list:
self.addCheckBox(topic)
self.main_widget.setLayout(self.selection_vlayout)
self.area.setWidget(self.main_widget)
self.show()
def get_or_generate_uuid(options_runid, options_wait_for_master):
"""
:param options_runid: run_id value from command-line or ``None``, ``str``
:param options_wait_for_master: the wait_for_master command
option. If this is True, it means that we must retrieve the
value from the parameter server and need to avoid any race
conditions with the roscore being initialized. ``bool``
"""
# Three possible sources of the run_id:
#
# - if we're a child process, we get it from options_runid
# - if there's already a roscore running, read from the param server
# - generate one if we're running the roscore
if options_runid:
return options_runid
# #773: Generate a run_id to use if we launch a master
# process. If a master is already running, we'll get the
# run_id from it instead
param_server = rosgraph.Master('/roslaunch')
val = None
while val is None:
try:
val = param_server.getParam('/run_id')
except:
if not options_wait_for_master:
val = roslaunch.core.generate_run_id()
return val
def execute(self, inputs, outputs, gvm):
port = inputs['port']
# it's actually just this command
cmd = ['roscore']
if port != None:
cmd.append('-p {}'.format(port))
# create the thread
thread = Thread(target=startRosCoreFunction, args=(
self,
cmd,
))
try:
rosgraph.Master('/rostopic').getPid()
except socket.error:
#self.logger.warning("Unable to communicate with master!")
# No ros core running -> start it
return startRosCore(self, thread)
# ros core active - restart if True
if inputs['restart_if_running']:
self.logger.info("ROS CORE already running - killing ROS CORE!")
killRosCore(self)
self.logger.info("Restarting ROS CORE!")
return startRosCore(self, thread)
self.logger.info("ROS CORE already running!")
return "success"
def get_node_names(namespace=None):
"""
@param namespace: optional namespace to scope return values by. Namespace must already be resolved.
@type namespace: str
@return: list of node caller IDs
@rtype: [str]
@raise ROSNodeIOException: if unable to communicate with master
"""
master = rosgraph.Master(ID)
try:
state = master.getSystemState()
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
if namespace:
# canonicalize namespace with leading/trailing slash
g_ns = rosgraph.names.make_global_ns(namespace)
for s in state:
for t, l in s:
nodes.extend(
[n for n in l if n.startswith(g_ns) or n == namespace])
else:
for s in state:
for t, l in s:
nodes.extend(l)
return list(set(nodes))
def __init__(self):
self._master = rosgraph.Master(rospy.get_name())
try:
self.update()
except Exception:
self._system_state = [[], [], []]
self._topic_types = []
def kill_nodes(node_names):
"""
Call shutdown on the specified nodes
@return: list of nodes that shutdown was called on successfully and list of failures
@rtype: ([str], [str])
"""
master = rosgraph.Master(ID)
success = []
fail = []
tocall = []
try:
# lookup all nodes keeping track of lookup failures for return value
for n in node_names:
try:
uri = master.lookupNode(n)
tocall.append([n, uri])
except:
fail.append(n)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
for n, uri in tocall:
# the shutdown call can sometimes fail to succeed if the node
# tears down during the request handling, so we assume success
try:
p = xmlrpclib.ServerProxy(uri)
_succeed(p.shutdown(ID, 'user request'))
except:
pass
success.append(n)
return success, fail
def _get_topic_type(topic):
"""
subroutine for getting the topic type
(nearly identical to rostopic._get_topic_type, except it returns rest of name instead of fn)
:returns: topic type, real topic name, and rest of name referenced
if the topic points to a field within a topic, e.g. /rosout/msg, ``str, str, str``
"""
try:
master = rosgraph.Master('/rosplot')
val = master.getTopicTypes()
except:
raise RosPlotException("unable to get list of topics from master")
matches = [(t, t_type) for t, t_type in val
if t == topic or topic.startswith(t + '/')]
# Find the longest matching topic. So if user requests /foo/bar/baz and there are two topics, /foo and /foo/bar,
# it will match /foo/bar and look for subfield .baz, instead of /foo looking for .bar.baz.
# There is still ambiguity here, but hopefully this resolves it in the correct direction more often
matches.sort(key=lambda x: len(x[0]), reverse=True)
if matches:
t, t_type = matches[0]
if t_type == roslib.names.ANYTYPE:
return None, None, None
if t_type == topic:
return t_type, None
return t_type, t, topic[len(t):]
else:
return None, None, None
def rosnode_ping_all(verbose=False):
"""
Ping all running nodes
@return [str], [str]: pinged nodes, un-pingable nodes
@raise ROSNodeIOException: if unable to communicate with master
"""
master = rosgraph.Master(ID)
try:
state = master.getSystemState()
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
for s in state:
for t, l in s:
nodes.extend(l)
nodes = list(set(nodes)) #uniq
if verbose:
print("Will ping the following nodes: \n" +
''.join([" * %s\n" % n for n in nodes]))
pinged = []
unpinged = []
for node in nodes:
if rosnode_ping(node, max_count=1, verbose=verbose):
pinged.append(node)
else:
unpinged.append(node)
return pinged, unpinged
def test_subscriber_appears_disappears(self):
topic_type = rospy.get_param('~input_topic_type')
check_connected_topics = rospy.get_param('~check_connected_topics')
wait_time = rospy.get_param('~wait_for_connection', 0)
msg_class = roslib.message.get_message_class(topic_type)
# Subscribe topic and bond connection
sub = rospy.Subscriber('~input', msg_class,
self._cb_test_subscriber_appears_disappears)
print('Waiting for connection for {} sec.'.format(wait_time))
rospy.sleep(wait_time)
# Check assumed topics are there
master = rosgraph.Master('test_connection')
_, subscriptions, _ = master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
break
else:
raise ValueError('Not found topic: {}'.format(check_topic))
sub.unregister()
# FIXME: below test won't pass on hydro
ROS_DISTRO = os.environ.get('ROS_DISTRO', 'indigo')
if ord(ROS_DISTRO[0]) < ord('i'):
sys.stderr.write('WARNING: running on rosdistro %s, and skipping '
'test for disconnection.\n' % ROS_DISTRO)
return
rospy.sleep(1) # wait for disconnection
# Check specified topics do not exist
_, subscriptions, _ = master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
raise ValueError('Found topic: {}'.format(check_topic))
def rosnode_info(node_name):
"""
Print information about node, including subscriptions and other debugging information. This will query the node over the network.
@param node_name: name of ROS node
@type node_name: str
@raise ROSNodeIOException: if unable to communicate with master
"""
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = rosgraph.Master(ID)
node_name = rosgraph.names.script_resolve_name('rosnode', node_name)
print('-' * 80)
print(get_node_info_description(node_name))
node_api = get_api_uri(master, node_name)
if not node_api:
print("cannot contact [%s]: unknown node" % node_name, file=sys.stderr)
return
print("\ncontacting node %s ..." % node_api)
print(get_node_connection_info_description(node_api, master))
def get_live_message_types():
"""
Gathers a list of all the types used in a running ROS system.
Return:
a list of types used in a running ROS system.
"""
print "Generating ROS Messages from rostopics"
master = rosgraph.Master('/rostopic')
rostopic_info = ""
try:
state = master.getSystemState()
pubs, subs, _ = state
topics_published_to = [item[0] for item in pubs]
topics_subscribed_to = [item[0] for item in subs]
unique_topics = list(set(topics_published_to + topics_subscribed_to))
types = []
for topic in unique_topics:
topic_type = rostopic._get_topic_type(topic)[0]
types.append(topic_type)
output_list = set(types)
print "Discovered %d types " % len(set(types))
return output_list
except socket.error:
raise ROSTopicIOException("Unable to communicate with master!")
def __init__(self, sample_rate=None, update_rate=None):
self.sample_rate = sample_rate or rospy.Duration(0.1)
self.update_rate = update_rate or rospy.Duration(2)
# Generate a ROS compatible node name using the following options.
# Preference Order: 1) ROS_HOSTNAME, 2) ROS_IP w/ underscores (10_0_0_5)
# 3) hostname (if it is ROS naming compatible), 4) hashed hostname
nodename = get_ros_hostname() or get_ros_ip() or get_sys_hostname()
rospy.init_node('rosprofiler_%s' % nodename)
self._master = rosgraph.Master(rospy.names.get_name()[1:])
self._lock = threading.Lock()
self._monitor_timer = None
self._publisher_timer = None
self._graphupdate_timer = None
# Data Structure for collecting information about the host
self._host_monitor = HostMonitor()
self._node_publisher = rospy.Publisher('/node_statistics',
NodeStatistics,
queue_size=10)
self._host_publisher = rospy.Publisher('/host_statistics',
HostStatistics,
queue_size=10)
# Processes we are watching
self._nodes = dict()
def _restart_robin_node(cls, node_path): #TODO try to simplify
"""Restarts robin bridge node."""
# if node alive
if rosnode.rosnode_ping(node_path, max_count=3):
# kill node
if node_path not in rosnode.kill_nodes([node_path])[0]:
raise RuntimeError(
"Failed to kill robin node '{}'.".format(node_path))
else:
master = rosgraph.Master(rosnode.ID)
rosnode.cleanup_master_blacklist(master, [node_path])
node_name = node_path.split('/')[-1]
cls._wait_for(lambda: cls._get_node_path(node_name) == '')
namespace = '/'.join(node_path.split('/')[:-1])
cmd = '''bash -c "
cd {} &&
. *devel*/setup.bash &&
rosrun robin_bridge_generated robin_node __ns:={} &
" > /dev/null 2>&1'''.format(catkin_ws, namespace)
# " > /dev/null 2>&1'''.format(catkin_ws, node_path[:-len('/' + node_name)])
if os.system(cmd) != 0:
raise RuntimeError('Failed to rerun robin node.')
cls._wait_for(lambda: cls._get_node_path(node_name) != '', timeout=10)
