def _load_interface(self):
interface_file = resolve_url(rospy.get_param('~interface_url', ''))
if interface_file:
rospy.loginfo("interface_url: %s", interface_file)
try:
data = read_interface(interface_file) if interface_file else {}
# set the ignore hosts list
self._re_ignore_hosts = create_pattern('ignore_hosts', data, interface_file, [])
# set the sync hosts list
self._re_sync_hosts = create_pattern('sync_hosts', data, interface_file, [])
self.__sync_topics_on_demand = False
if interface_file:
if 'sync_topics_on_demand' in data:
self.__sync_topics_on_demand = data['sync_topics_on_demand']
elif rospy.has_param('~sync_topics_on_demand'):
self.__sync_topics_on_demand = rospy.get_param('~sync_topics_on_demand')
rospy.loginfo("sync_topics_on_demand: %s", self.__sync_topics_on_demand)
self.__resync_on_reconnect = rospy.get_param('~resync_on_reconnect', True)
rospy.loginfo("resync_on_reconnect: %s", self.__resync_on_reconnect)
self.__resync_on_reconnect_timeout = rospy.get_param('~resync_on_reconnect_timeout', 0)
rospy.loginfo("resync_on_reconnect_timeout: %s", self.__resync_on_reconnect_timeout)
except:
import traceback
# kill the ros node, to notify the user about the error
rospy.logerr("Error on load interface: %s", traceback.format_exc())
import os
import signal
os.kill(os.getpid(), signal.SIGKILL)
def __init__(self, script):
'''
:param str masteruri: the URI of the remote ROS master
'''
threading.Thread.__init__(self)
self._script = script
cmd_list = shlex.split(script)
self._cmd = []
for cmd in cmd_list:
if cmd.startswith("pkg://"):
resolved = resolve_url(cmd)
self._cmd.append(resolved)
else:
self._cmd.append(cmd)
self.setDaemon(True)
self.spopen = None
self.stopped = False