def _launch_master(self):
"""
Launches master if requested.
@return: True if a master was launched, False if a master was
already running.
@rtype: bool
@raise RLException: if master launch fails
"""
m = self.config.master
is_running = m.is_running()
if self.is_core and is_running:
raise RLException(
"roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"
% (m.uri))
if not is_running:
validate_master_launch(m, self.is_core, self.is_rostest)
printlog("auto-starting new master")
p = create_master_process(self.run_id, m.type, get_ros_root(),
m.get_port(), self.num_workers,
self.timeout)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]" % m.uri)
printlog_bold("ROS_MASTER_URI=%s" % m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = rosgraph.network.parse_http_host_and_port(
self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s" %
(hostname, port, self.server_uri))
param_server.setParam(_ID,
'/roslaunch/uris/%s__%s' % (hostname, port),
self.server_uri)
return not is_running
def _launch_master(self):
"""
Launches master if requested.
@return: True if a master was launched, False if a master was
already running.
@rtype: bool
@raise RLException: if master launch fails
"""
m = self.config.master
is_running = m.is_running()
if self.is_core and is_running:
raise RLException("roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"%(m.uri))
if not is_running:
validate_master_launch(m, self.is_core, self.is_rostest)
printlog("auto-starting new master")
p = create_master_process(self.run_id, m.type, get_ros_root(), m.get_port(), self.num_workers, self.timeout)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]"%m.uri)
printlog_bold("ROS_MASTER_URI=%s"%m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = rosgraph.network.parse_http_host_and_port(self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s"%(hostname, port, self.server_uri))
param_server.setParam(_ID, '/roslaunch/uris/%s__%s'%(hostname, port),self.server_uri)
return not is_running
def _launch_master(self):
"""
Launches master if requested. Must be run after L{_setup_master()}.
@raise RLException: if master launch fails
"""
m = self.config.master
auto = m.auto
is_running = m.is_running()
if self.is_core and is_running:
raise RLException(
"roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"
% (m.uri))
self.logger.debug("launch_master [%s]", auto)
if auto in [m.AUTO_START, m.AUTO_RESTART] and not is_running:
if auto == m.AUTO_START:
printlog(
"starting new master (master configured for auto start)")
elif auto == m.AUTO_RESTART:
printlog(
"starting new master (master configured for auto restart)")
_, urlport = roslib.network.parse_http_host_and_port(m.uri)
if urlport <= 0:
raise RLException(
"ERROR: master URI is not a valid XML-RPC URI. Value is [%s]"
% m.uri)
p = create_master_process(self.run_id, m.type, get_ros_root(),
urlport, m.log_output)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]" % m.uri)
printlog_bold("ROS_MASTER_URI=%s" % m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = roslib.network.parse_http_host_and_port(
self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s" %
(hostname, port, self.server_uri))
param_server.setParam(_ID,
'/roslaunch/uris/%s__%s' % (hostname, port),
self.server_uri)
