def test_myargv():
orig_argv = sys.argv
try:
from rosgraph import myargv
args = myargv()
assert args == sys.argv
assert ['foo', 'bar', 'baz'] == myargv(['foo','bar', 'baz'])
assert ['-foo', 'bar', '-baz'] == myargv(['-foo','bar', '-baz'])
assert ['foo'] == myargv(['foo','bar:=baz'])
assert ['foo'] == myargv(['foo','-bar:=baz'])
finally:
sys.argv = orig_argv
def resolve_launch_arguments(args):
"""
Resolve command-line args to roslaunch filenames.
:returns: resolved filenames, ``[str]``
"""
# strip remapping args for processing
args = rosgraph.myargv(args)
# user can either specify:
# - filename + launch args
# - package + relative-filename + launch args
if not args:
return args
resolved_args = None
top = args[0]
if os.path.isfile(top):
resolved_args = [top] + args[1:]
elif len(args) == 1:
raise roslaunch.core.RLException("[%s] does not exist. please specify a package and launch file"%(top))
else:
try:
resolved = roslib.packages.find_resource(top, args[1])
if len(resolved) == 1:
resolved = resolved[0]
elif len(resolved) > 1:
raise roslaunch.core.RLException("multiple files named [%s] in package [%s]:%s\nPlease specify full path instead" % (args[1], top, ''.join(['\n- %s' % r for r in resolved])))
except rospkg.ResourceNotFound as e:
raise roslaunch.core.RLException("[%s] is not a package or launch file name"%top)
if not resolved:
raise roslaunch.core.RLException("cannot locate [%s] in package [%s]"%(args[1], top))
else:
resolved_args = [resolved] + args[2:]
return resolved_args
def parse_argument(argv):
"""
argument parser for roswww server configuration
"""
parser = argparse.ArgumentParser(description="ROSWWW Server")
parser.add_argument('-n', '--name', default='80', help='Webserver name')
parser.add_argument('-p',
'--port',
default='80',
help='Webserver Port number')
parser.add_argument('-w',
'--webpath',
default='www',
help='package relative path to web pages')
parser.add_argument('--start_port',
default='8000',
help='setting up port scan range')
parser.add_argument('--end_port',
default='9000',
help='setting up port scan range')
myargs = rosgraph.myargv(sys.argv[1:]) # strips ros arguements
parsed_args = parser.parse_args(myargs)
return parsed_args.name, parsed_args.webpath, (parsed_args.port,
parsed_args.start_port,
parsed_args.end_port)
def parse_arguments():
"""
Argument parser for the rocon_launch script.
"""
parser = argparse.ArgumentParser(description="Rocon's multi-roslauncher.")
terminal_group = parser.add_mutually_exclusive_group()
terminal_group.add_argument(
'-k',
'--konsole',
default=False,
action='store_true',
help='spawn individual ros systems via multiple konsole terminals')
terminal_group.add_argument(
'-g',
'--gnome',
default=False,
action='store_true',
help='spawn individual ros systems via multiple gnome terminals')
parser.add_argument('--screen',
action='store_true',
help='run each roslaunch with the --screen option')
parser.add_argument('--no-terminals',
action='store_true',
help='do not spawn terminals for each roslaunch')
parser.add_argument(
'--hold',
action='store_true',
help=
'hold terminals open after upon completion (incompatible with --no-terminals)'
)
# Force package, launcher pairs, I like this better than roslaunch style which is a bit vague
parser.add_argument(
'package',
nargs='?',
default='',
help='name of the package in which to find the concert launcher')
parser.add_argument(
'launcher',
nargs=1,
help='name of the concert launch configuration (xml) file')
#parser.add_argument('launchers', nargs='+', help='package and concert launch configuration (xml) file configurations, roslaunch style')
mappings = rosgraph.names.load_mappings(
sys.argv) # gets the arg mappings, e.g. scheduler_type:=simple
argv = rosgraph.myargv(sys.argv[1:]) # strips the mappings
args = parser.parse_args(argv)
if args.no_terminals:
args.terminal_name = terminals.active
elif args.konsole:
args.terminal_name = terminals.konsole
elif args.gnome:
args.terminal_name = terminals.gnome_terminal
else:
args.terminal_name = None
return (args, mappings)
def resolve_launch_arguments(args):
"""
Resolve command-line args to roslaunch filenames.
:returns: resolved filenames, ``[str]``
"""
# strip remapping args for processing
args = rosgraph.myargv(args)
# user can either specify:
# - filename + launch args
# - package + relative-filename + launch args
if not args:
return args
resolved_args = None
# try to resolve launch file in package first
if len(args) >= 2:
try:
resolved = roslib.packages.find_resource(args[0], args[1])
if len(resolved) > 1:
raise roslaunch.core.RLException(
"multiple files named [%s] in package [%s]:%s\nPlease specify full path instead"
% (args[1], args[0], ''.join(
['\n- %s' % r for r in resolved])))
if len(resolved) == 1:
resolved_args = [resolved[0]] + args[2:]
except rospkg.ResourceNotFound:
pass
# try to resolve launch file
if resolved_args is None and os.path.isfile(args[0]):
resolved_args = [args[0]] + args[1:]
# raise if unable to resolve
if resolved_args is None:
if len(args) >= 2:
raise roslaunch.core.RLException(
"[%s] is neither a launch file in package [%s] nor is [%s] a launch file name"
% (args[1], args[0], args[0]))
else:
raise roslaunch.core.RLException("[%s] is not a launch file name" %
args[0])
return resolved_args
def resolve_launch_arguments(args):
"""
Resolve command-line args to roslaunch filenames.
:returns: resolved filenames, ``[str]``
"""
# strip remapping args for processing
args = rosgraph.myargv(args)
# user can either specify:
# - filename + launch args
# - package + relative-filename + launch args
if not args:
return args
resolved_args = None
# try to resolve launch file in package first
if len(args) >= 2:
try:
resolved = roslib.packages.find_resource(args[0], args[1])
if len(resolved) > 1:
raise roslaunch.core.RLException("multiple files named [%s] in package [%s]:%s\nPlease specify full path instead" % (args[1], args[0], ''.join(['\n- %s' % r for r in resolved])))
if len(resolved) == 1:
resolved_args = [resolved[0]] + args[2:]
except rospkg.ResourceNotFound:
pass
# try to resolve launch file
if resolved_args is None and (args[0] == '-' or os.path.isfile(args[0])):
resolved_args = [args[0]] + args[1:]
# raise if unable to resolve
if resolved_args is None:
if len(args) >= 2:
raise roslaunch.core.RLException("[%s] is neither a launch file in package [%s] nor is [%s] a launch file name" % (args[1], args[0], args[0]))
else:
raise roslaunch.core.RLException("[%s] is not a launch file name" % args[0])
return resolved_args
