def StartNode(self, request_iterator, context):
for request in request_iterator:
rospy.logdebug('StartNode request:\n%s' % str(request))
try:
result = lmsg.StartNodeReply(name=request.name)
launch_configs = []
if request.opt_launch:
cfgid = CfgId(request.opt_launch, request.masteruri)
if cfgid in self._loaded_files:
launch_configs.append(self._loaded_files[cfgid])
if not launch_configs:
# get launch configurations with given node
launch_configs = []
for cfgid, launchcfg in self._loaded_files.items():
if cfgid.equal_masteruri(request.masteruri):
n = launchcfg.get_node(request.name)
if n is not None:
launch_configs.append(launchcfg)
if not launch_configs:
result.status.code = NODE_NOT_FOUND
result.status.error_msg = "Node '%s' not found" % request.name
yield result
if len(launch_configs) > 1:
result.status.code = MULTIPLE_LAUNCHES
result.status.error_msg = "Node '%s' found in multiple launch files" % request.name
result.launch.extend([lcfg.filename for lcfg in launch_configs])
yield result
try:
result.launch.append(launch_configs[0].filename)
startcfg = launcher.create_start_config(request.name, launch_configs[0], request.opt_binary, masteruri=request.masteruri, loglevel=request.loglevel, logformat=request.logformat, reload_global_param=request.reload_global_param, cmd_prefix=request.cmd_prefix)
launcher.run_node(startcfg)
result.status.code = OK
yield result
except exceptions.BinarySelectionRequest as bsr:
result.status.code = MULTIPLE_BINARIES
result.status.error_msg = "multiple binaries found for node '%s': %s" % (request.name, bsr.choices)
result.path.extend(bsr.choices)
yield result
except grpc.RpcError as conerr:
result.status.code = CONNECTION_ERROR
result.status.error_msg = utf8(conerr)
yield result
except exceptions.ResourceNotFound as err_nf:
result = lmsg.StartNodeReply(name=request.name)
result.status.code = ERROR
result.status.error_msg = "Error while start node '%s': %s" % (request.name, utf8(err_nf))
yield result
except Exception as _errr:
result = lmsg.StartNodeReply(name=request.name)
result.status.code = ERROR
result.status.error_msg = "Error while start node '%s': %s" % (request.name, utf8(traceback.format_exc()))
yield result
def StartStandaloneNode(self, request, context):
result = lmsg.StartNodeReply(name=request.name)
try:
startcfg = StartConfig.from_msg(request)
try:
launcher.run_node(startcfg)
result.status.code = OK
except exceptions.BinarySelectionRequest as bsr:
result.status.code = MULTIPLE_BINARIES
result.status.error_msg = "multiple binaries found for node '%s': %s" % (request.name, bsr.choices)
result.launch.extend(bsr.choices)
except grpc.RpcError as conerr:
result.status.code = CONNECTION_ERROR
result.status.error_msg = utf8(conerr)
except Exception:
result = lmsg.StartNodeReply(name=request.name)
result.status.code = ERROR
result.status.error_msg = "Error while start node '%s': %s" % (request.name, utf8(traceback.format_exc()))
return result