def get_start_cfg(self, name, opt_launch='', loglevel='', logformat='', masteruri='', reload_global_param=False):
'''
Returns start configuration for a node.
:param str name: full name of the ros node exists in the launch file.
:param str opt_binary: the full path of the binary. Used in case of multiple binaries in the same package.
:param str opt_launch: full name of the launch file to use. Used in case the node with same name exists in more then one loaded launch file.
:param str loglevel: log level
:raise exceptions.StartException: on start errors
:raise exceptions.BinarySelectionRequest: on multiple binaries
:raise exceptions.LaunchSelectionRequest: on multiple launch files
'''
response = self.lm_stub.GetStartCfg(lmsg.Node(name=name, opt_binary='', opt_launch=opt_launch, loglevel=loglevel, logformat=logformat, masteruri=masteruri, reload_global_param=reload_global_param), timeout=settings.GRPC_TIMEOUT)
startcfg = None
if response.status.code == 0:
startcfg = StartConfig.from_msg(response.startcfg)
elif response.status.code == ERROR:
raise exceptions.StartException(response.status.error_msg)
elif response.status.code == NODE_NOT_FOUND:
raise exceptions.StartException(response.status.error_msg)
elif response.status.code == MULTIPLE_LAUNCHES:
raise exceptions.LaunchSelectionRequest([path for path in response.launch], response.status.error_msg)
elif response.status.code == CONNECTION_ERROR:
raise exceptions.ConnectionException(response.name, response.status.error_msg)
return startcfg
def _gen_node_list(self, nodes):
for name, opt_binary, opt_launch, loglevel, logformat, masteruri, reload_global_param, cmd_prefix in nodes:
yield lmsg.Node(name=name,
opt_binary=opt_binary,
opt_launch=opt_launch,
loglevel=loglevel,
logformat=logformat,
masteruri=masteruri,
reload_global_param=reload_global_param,
cmd_prefix=cmd_prefix)
