def test_resolve_launch_arguments(self):
from roslaunch.rlutil import resolve_launch_arguments
roslaunch_dir = get_test_path()
example_xml_p = os.path.join(get_example_path(), 'example.launch')
tests = [
([], []),
(['roslaunch', 'example.launch'], [example_xml_p]),
([example_xml_p], [example_xml_p]),
(['roslaunch', 'example.launch', 'foo',
'bar'], [example_xml_p, 'foo', 'bar']),
([example_xml_p, 'foo', 'bar'], [example_xml_p, 'foo', 'bar']),
]
bad = [
['does_not_exist'],
['does_not_exist', 'foo.launch'],
['roslaunch', 'does_not_exist.launch'],
]
for test, result in tests:
for v1, v2 in zip(result, resolve_launch_arguments(test)):
# workaround for nfs
if os.path.exists(v1):
self.assert_(os.path.samefile(v1, v2))
else:
self.assertEquals(v1, v2)
for test in bad:
try:
resolve_launch_arguments(test)
self.fail("should have failed")
except roslaunch.RLException:
pass
def test_resolve_launch_arguments(self):
from roslaunch.rlutil import resolve_launch_arguments
roslaunch_dir = get_test_path()
example_xml_p = os.path.join(get_example_path(), 'example.launch')
tests = [
([], []),
(['roslaunch', 'example.launch'], [example_xml_p]),
([example_xml_p], [example_xml_p]),
(['roslaunch', 'example.launch', 'foo', 'bar'], [example_xml_p, 'foo', 'bar']),
([example_xml_p, 'foo', 'bar'], [example_xml_p,'foo', 'bar']),
]
bad = [
['does_not_exist'],
['does_not_exist', 'foo.launch'],
['roslaunch', 'does_not_exist.launch'],
]
for test, result in tests:
for v1, v2 in zip(result, resolve_launch_arguments(test)):
# workaround for nfs
if os.path.exists(v1):
self.assert_(os.path.samefile(v1, v2))
else:
self.assertEquals(v1, v2)
for test in bad:
try:
resolve_launch_arguments(test)
self.fail("should have failed")
except roslaunch.RLException:
pass
def test_resolve_launch_arguments(self):
from roslaunch.rlutil import resolve_launch_arguments
roslaunch_dir = roslib.packages.get_pkg_dir('roslaunch')
example_xml_p = os.path.join(roslaunch_dir, 'example.launch')
tests = [
([], []),
(['roslaunch', 'example.launch'], [example_xml_p]),
([example_xml_p], [example_xml_p]),
(['roslaunch', 'example.launch', 'foo',
'bar'], [example_xml_p, 'foo', 'bar']),
([example_xml_p, 'foo', 'bar'], [example_xml_p, 'foo', 'bar']),
]
bad = [
['does_not_exist'],
['does_not_exist', 'foo.launch'],
['roslaunch', 'does_not_exist.launch'],
]
for test, result in tests:
self.assertEquals(result, resolve_launch_arguments(test))
for test in bad:
try:
self.assertEquals(result, resolve_launch_arguments(test))
self.fail("should have failed")
except roslaunch.RLException:
pass
def test_resolve_launch_arguments(self):
from roslaunch.rlutil import resolve_launch_arguments
roslaunch_dir = roslib.packages.get_pkg_dir("roslaunch")
example_xml_p = os.path.join(roslaunch_dir, "example.launch")
tests = [
([], []),
(["roslaunch", "example.launch"], [example_xml_p]),
([example_xml_p], [example_xml_p]),
(["roslaunch", "example.launch", "foo", "bar"], [example_xml_p, "foo", "bar"]),
([example_xml_p, "foo", "bar"], [example_xml_p, "foo", "bar"]),
]
bad = [["does_not_exist"], ["does_not_exist", "foo.launch"], ["roslaunch", "does_not_exist.launch"]]
for test, result in tests:
self.assertEquals(result, resolve_launch_arguments(test))
for test in bad:
try:
self.assertEquals(result, resolve_launch_arguments(test))
self.fail("should have failed")
except roslaunch.RLException:
pass
import os
from roslaunch import node_args
from roslaunch import rlutil
import roslaunch.xmlloader
from rosgraph.names import script_resolve_name
if "-h" in sys.argv or "--help" in sys.argv:
print("Usage: " + os.path.basename(__file__) + " package launchfile")
print(
"prints the paramters the node-executable gets if it is launched with roslaunch and the given launchfile."
+
" A common use case for this is to get the argument to make the gtcreator debugger work properly"
)
sys.exit()
launch_files = rlutil.resolve_launch_arguments(sys.argv[1:])
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = roslaunch.config.load_config_default(launch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
nodes = node_args.get_node_list(config)
if len(nodes) > 1:
print("ERROR: the launchfile contains more than one launchfile!")
sys.exit()
node = nodes[0]
node_name = script_resolve_name('roslaunch', node)
node_args = node_args.get_node_args(node_name, launch_files)
if len(node_args) < 2:
def launch_main(argv=sys.argv, real_args=None, fn_to_call=None):
options = None
logger = None
try:
from roslaunch import rlutil
parser = roslaunch._get_optparse()
(options, args) = parser.parse_args(argv[1:])
args = rlutil.resolve_launch_arguments(args)
roslaunch._validate_args(parser, options, args)
# node args doesn't require any roslaunch infrastructure, so process it first
if any([
options.node_args, options.node_list, options.find_node,
options.dump_params, options.file_list, options.ros_args
]):
if options.node_args and not args:
parser.error("please specify a launch file")
from roslaunch import node_args
if options.node_args:
node_args.print_node_args(options.node_args, args)
elif options.find_node:
node_args.print_node_filename(options.find_node, args)
# Dump parameters, #2685
elif options.dump_params:
roslaunch_param_dump.dump_params(args)
elif options.file_list:
rlutil.print_file_list(args)
elif options.ros_args:
import arg_dump as roslaunch_arg_dump
roslaunch_arg_dump.dump_args(args)
else:
node_args.print_node_list(args)
return
# we have to wait for the master here because we don't have the run_id yet
if options.wait_for_master:
if options.core:
parser.error("--wait cannot be used with roscore")
rlutil._wait_for_master()
# write the pid to a file
roslaunch.write_pid_file(options.pid_fn, options.core, options.port)
# spin up the logging infrastructure. have to wait until we can read options.run_id
uuid = rlutil.get_or_generate_uuid(options.run_id,
options.wait_for_master)
roslaunch.configure_logging(uuid)
# #3088: don't check disk usage on remote machines
if not options.child_name and not options.skip_log_check:
# #2761
rlutil.check_log_disk_usage()
logger = logging.getLogger('roslaunch')
logger.info("roslaunch starting with args %s" % str(argv))
logger.info("roslaunch env is %s" % os.environ)
if options.child_name:
logger.info('starting in child mode')
# This is a roslaunch child, spin up client server.
# client spins up an XML-RPC server that waits for
# commands and configuration from the server.
from roslaunch import child as roslaunch_child
c = roslaunch_child.ROSLaunchChild(uuid, options.child_name,
options.server_uri)
c.run()
else:
logger.info('starting in server mode')
# #1491 change terminal name
if not options.disable_title:
rlutil.change_terminal_name(args, options.core)
# Read roslaunch string from stdin when - is passed as launch filename.
roslaunch_strs = []
if '-' in args:
roslaunch_core.printlog(
"Passed '-' as file argument, attempting to read roslaunch XML from stdin."
)
roslaunch_strs.append(sys.stdin.read())
roslaunch_core.printlog("... %d bytes read successfully.\n" %
len(roslaunch_strs[-1]))
args.remove('-')
# This is a roslaunch parent, spin up parent server and launch processes.
# args are the roslaunch files to load
from roslaunch import parent as roslaunch_parent
try:
# force a port binding spec if we are running a core
if options.core:
options.port = options.port or DEFAULT_MASTER_PORT
p = roslaunch_parent.ROSLaunchParent(
uuid,
args,
roslaunch_strs=roslaunch_strs,
is_core=options.core,
port=options.port,
local_only=options.local_only,
verbose=options.verbose,
force_screen=options.force_screen,
num_workers=options.num_workers,
timeout=options.timeout)
p.start()
if fn_to_call is None:
p.spin()
else:
fn_to_call(real_args)
finally:
# remove the pid file
if options.pid_fn:
try:
os.unlink(options.pid_fn)
except os.error:
pass
except RLException as e:
roslaunch_core.printerrlog(str(e))
roslaunch_core.printerrlog(
'The traceback for the exception was written to the log file')
if logger:
logger.error(traceback.format_exc())
sys.exit(1)
except ValueError as e:
# TODO: need to trap better than this high-level trap
roslaunch_core.printerrlog(str(e))
roslaunch_core.printerrlog(
'The traceback for the exception was written to the log file')
if logger:
logger.error(traceback.format_exc())
sys.exit(1)
except Exception as e:
traceback.print_exc()
sys.exit(1)
