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 unsubscribe_rostopic(self, data):
utils.print_debug(data)
self.subscribers = list(filter(lambda s: s['topic'] != data.get('topic'), self.subscribers))
msg = {
'uuid': self.id,
'rosnodes': rosnode.get_node_names(),
'rostopics': utils.list_rostopics()
}
self.sio.emit('update_rosnodes', json.dumps(msg), namespace=self.nms)
def kill_rosnodes(self, data):
rosnode.kill_nodes(data.get('rosnodes'))
# 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)
print('killed')