def run_rosrun(self, data):
rosrun_commands = utils.list_rosorun_commands()
if data.get('command') in rosrun_commands:
cmd = 'PYTHONUNBUFFERED=false rosrun ' + data.get('command') + ' ' + data.get('args')
process = Popen(cmd, shell=True, stdout=PIPE)
# Note: The launched rosnode-name does not appear the soon after roslaunch is executed.
# Therefore, sleep is neccessary to wait it finishes to launch.
time.sleep(2)
msg = {
'uuid': self.id,
'rosnodes': rosnode.get_node_names(),
'rostopics': utils.list_rostopics()
}
self.sio.emit('update_rosnodes', json.dumps(msg), namespace=self.nms)
while True:
output = process.stdout.readline()
if output == '' and process.poll() is not None:
break
if output:
msg = {
"cmd": data.get('command').replace(" ", "-"),
"robotUuid": self.id,
"log": output.strip(),
}
self.sio.emit('rosrun_log', json.dumps(msg), namespace=self.nms)
print(output.strip())
process.poll()
def connect(self):
ros_root = rospkg.get_ros_root()
r = rospkg.RosPack()
manifest = r.get_manifest('rowma_ros')
rowma_ros_version = manifest.version
launch_commands = utils.list_launch_commands()
rosrun_commands = utils.list_rosorun_commands()
rostopics = utils.list_rostopics()
uuid = os.environ.get('UUID', self.id)
msg = {
'uuid': uuid,
'launch_commands': launch_commands,
'rosnodes': rosnode.get_node_names(),
'rosrun_commands': rosrun_commands,
'rowma_ros_version': rowma_ros_version,
'rostopics': rostopics,
'reconnection': self.reconnecting
}
api_key = os.environ.get('API_KEY')
if api_key:
msg['api_key'] = api_key
self.sio.emit('register_robot', json.dumps(msg), namespace=self.nms)
utils.print_success('connection established')
def connect(self):
print('connection established')
launch_commands = utils.list_launch_commands()
rosrun_commands = utils.list_rosorun_commands()
uuid = os.environ.get('UUID') or self.id
msg = {
'uuid': uuid,
'launch_commands': launch_commands,
'rosnodes': rosnode.get_node_names(),
'rosrun_commands': rosrun_commands
}
api_key = os.environ.get('API_KEY')
if api_key:
msg['api_key'] = api_key
self.sio.emit('register_robot', json.dumps(msg), namespace=self.nms)
def run_rosrun(self, data):
rosrun_commands = utils.list_rosorun_commands()
print(rosrun_commands)
if data.get('command') in rosrun_commands:
cmd = 'rosrun ' + data.get('command') + ' ' + data.get('args')
print(cmd)
self.launched_nodes = self.launched_nodes.append(
Popen(cmd.split()) or [])
# Note: The launched rosnode-name does not appear the soon after roslaunch is executed.
# Therefore, sleep is neccessary to wait it finishes to launch.
time.sleep(2)
msg = {'uuid': self.id, 'rosnodes': rosnode.get_node_names()}
self.sio.emit('update_rosnodes',
json.dumps(msg),
namespace=self.nms)
print('run_rosrun')
print(data)
def add_script(self, data):
enable_script_download = os.environ.get('ENABLE_SCRIPT_DOWNLOAD', False)
if enable_script_download:
script = data.get('script')
name = data.get('name')
current_path = os.path.dirname(os.path.realpath(__file__))
file_path = os.path.join(current_path, "../" + name)
file = open(file_path, 'w')
file.write(script)
file.close()
cmd = 'chmod +x ' + file_path
process = Popen(cmd, shell=True, stdout=PIPE)
msg = {
'uuid': self.id,
'rosrunCommands': utils.list_rosorun_commands()
}
self.sio.emit('update_rosnodes', json.dumps(msg), namespace=self.nms)
else:
utils.print_error("You have to set ENABLE_SCRIPT_DOWNLOAD if you use script download.")
def test_list_rosrun_commands():
rosrun_commands = utils.list_rosorun_commands()
expected = ['rowma_ros rowma', 'ros_package_template ros_package_template']
assert rosrun_commands.sort() == expected.sort()