def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(screen.LOG_PATH):
os.makedirs(screen.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpcclient.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except Exception:
# run a roscore
master_host = get_hostname(masteruri)
if nm.is_local(master_host, True):
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = nmdhost.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (screen.get_cmd('/roscore--%d' % master_port), master_port)
for n in [1, 2, 3, 4]:
try:
if n == 1:
print("Launch ROS Master in screen ... %s" % (cmd_args))
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
elif n == 2:
print("ROS Master takes too long for start, wait for next 10 sec ...")
elif n == 3:
print("A really slow start, wait for last 10 sec ...")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpcclient.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
return
except Exception:
time.sleep(1)
count += 1
if n == 4 and count >= 11:
raise StartException('Cannot connect to ROS-Master: %s\n--> please run "roscore" manually!' % utf8(masteruri))
except Exception as e:
raise Exception("Error while call '%s': %s" % (cmd_args, utf8(e)))
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if not masteruri:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(screen.LOG_PATH):
os.makedirs(screen.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpcclient.ServerProxy(masteruri)
master.getUri(rospy.get_name())
except Exception:
# run a roscore
screen.test_screen()
master_host = get_hostname(masteruri)
if cls.is_local(master_host, True):
print("Start ROS-Master with %s ..." % masteruri)
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = nmdhost.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (screen.get_cmd(
'/roscore--%d' % master_port), master_port)
try:
subprocess.Popen(shlex.split(cmd_args), env=new_env)
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
print(" retry connect to ROS master %d/10" %
count)
master = xmlrpcclient.ServerProxy(masteruri)
result, _, _ = master.getUri(
rospy.get_name()) # _:=uri, msg
except Exception:
time.sleep(1)
count += 1
if count >= 11:
raise StartException(
'Cannot connect to the ROS-Master: ' +
str(masteruri))
except Exception as e:
import sys
sys.stderr.write("%s\n" % e)
raise
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
