def print_node_filename(node_name, roslaunch_files):
try:
# #2309
node_name = script_resolve_name('roslaunch', node_name)
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
nodes = [n for n in config.nodes if _resolved_name(n) == node_name] + \
[t for t in config.tests if _resolved_name(t) == node_name]
if len(nodes) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ', '.join(roslaunch_files)))
if not nodes:
print(
'ERROR: cannot find node named [%s]. Run \n\troslaunch --nodes <files>\nto see list of node names.'
% (node_name),
file=sys.stderr)
else:
print(nodes[0].filename)
except RLException as e:
print(str(e), file=sys.stderr)
sys.exit(1)
def get_standard_args(roslaunch_file):
'''
Given the Rapp launch file, this function parses the top-level args
in the file. Returns the complete list of top-level arguments that
match standard args so that they can be passed to the launch file
@param roslaunch_file : rapp launch file we are parsing for arguments
@type str
@return list of top-level arguments that match standard arguments. Empty
list on parse failure
@rtype [str]
'''
try:
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
unused_config = load_config_default([roslaunch_file],
None,
loader=loader,
verbose=False,
assign_machines=False)
available_args = \
[str(x) for x in loader.root_context.resolve_dict['arg']]
return [x for x in available_args if x in Rapp.standard_args]
except (RLException, rospkg.common.ResourceNotFound) as e:
# The ResourceNotFound lets us catch errors when the launcher has invalid
# references to resources
rospy.logerr(
"App Manager : failed to parse top-level args from rapp " +
"launch file [" + str(e) + "]")
return []
def print_node_filename(node_name, roslaunch_files):
try:
# #2309
node_name = script_resolve_name("roslaunch", node_name)
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
nodes = [n for n in config.nodes if _resolved_name(n) == node_name] + [
t for t in config.tests if _resolved_name(t) == node_name
]
if len(nodes) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ", ".join(roslaunch_files))
)
if not nodes:
print >> sys.stderr, "ERROR: cannot find node named [%s]. Run \n\troslaunch --nodes <files>\nto see list of node names." % (
node_name
)
else:
print nodes[0].filename
except RLException as e:
print >> sys.stderr, str(e)
sys.exit(1)
def __init__(self, package, launchfile):
self.package = package
self.launchfile = launchfile
self.name = launchfile.split("/")[-1].split(".launch")[0]
self.prettyname = self.name.replace("_", " ")
self.reachable = True
self.desc = ""
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
try:
config = load_config_default([self.launchfile],
None,
loader=loader,
verbose=False,
assign_machines=False)
except ResourceNotFound as e:
pass
except RLException as e:
pass
# contains default values + documentation
self.args = {}
for arg, v in loader.root_context.resolve_dict.get('arg_doc',
{}).items():
doc, value = v
################
# manual type checking (!!) -- ast.literal_eval fails badly on strings like '/dev/video1'
if value:
try:
value = int(value)
except ValueError:
try:
value = float(value)
except ValueError:
if value.lower() == "false": value = False
elif value.lower() == "true": value = True
################
self.args[arg] = {
"doc": doc,
"value": value,
"type": type(value).__name__,
"default_value": True
}
self.has_args = bool(self.args)
self.readytolaunch = self.checkargs()
self.pid = None
self.isrunning()
if (self.pid):
rospy.logwarn(
"Launch file <%s> is already running. Fine, I'm attaching myself to it."
% self.name)
def get_args(roslaunch_files):
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False, args_only=True)
config = load_config_default(roslaunch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
return loader.root_context.resolve_dict.get('arg_doc', {})
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name),
resolve_anon=False)
node_name = script_resolve_name(
'roslaunch', node_name) if not node_name.startswith('$') else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + \
[n for n in config.tests if _resolved_name(n) == node_name]
if not node:
node_list = get_node_list(config)
node_list_str = '\n'.join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ', '.join(roslaunch_files), node_list_str))
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ', '.join(roslaunch_files)))
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.keys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.items()] + args
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name), resolve_anon=False)
node_name = script_resolve_name("roslaunch", node_name) if not node_name.startswith("$") else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + [
n for n in config.tests if _resolved_name(n) == node_name
]
if not node:
node_list = get_node_list(config)
node_list_str = "\n".join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ", ".join(roslaunch_files), node_list_str)
)
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ", ".join(roslaunch_files))
)
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.iterkeys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.iteritems()] + args
def parse_nodes(file): ''' parse ros nodes from launch @param file: launch file @type file: str @return list of rosnodes @rtype [Node] ''' config = load_config_default([file], None) config_items = vars(config).items() for name, values in config_items: if name == 'nodes': ros_nodes = [n for n in values] return ros_nodes
def parse_nodes(file):
'''
parse ros nodes from launch
@param file: launch file
@type file: str
@return list of rosnodes
@rtype [Node]
'''
config = load_config_default([file], None)
config_items = vars(config).items()
for name, values in config_items:
if name == 'nodes':
ros_nodes = [n for n in values]
return ros_nodes
def print_file_list(roslaunch_files):
"""
:param roslaunch_files: list of launch files to load, ``str``
:returns: list of files involved in processing roslaunch_files, including the files themselves.
"""
from roslaunch.config import load_config_default, get_roscore_filename
import roslaunch.xmlloader
try:
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=True)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
files = [os.path.abspath(x) for x in set(config.roslaunch_files) - set([get_roscore_filename()])]
print('\n'.join(files))
except roslaunch.core.RLException as e:
print(str(e), file=sys.stderr)
sys.exit(1)
def print_file_list(roslaunch_files):
"""
@param roslaunch_files: list of launch files to load
@type roslaunch_files: str
@return list of files involved in processing roslaunch_files, including the files themselves.
"""
from roslaunch.config import load_config_default, get_roscore_filename
try:
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
files = [os.path.abspath(x) for x in set(config.roslaunch_files) - set([get_roscore_filename()])]
print '\n'.join(files)
except roslaunch.core.RLException as e:
print >> sys.stderr, str(e)
sys.exit(1)
def print_node_list(roslaunch_files):
"""
Print list of nodes to screen. Will cause system exit if exception
occurs. This is a subroutine for the roslaunch main handler.
@param roslaunch_files: list of launch files to load
@type roslaunch_files: str
"""
try:
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
node_list = get_node_list(config)
print '\n'.join(node_list)
except RLException, e:
print >> sys.stderr, str(e)
sys.exit(1)
def FindRunningNodes(self, launchFilePath):
"""
This methods makes a list of the running nodes in a launchfile
"""
runningNodeList = []
launchFileList = [launchFilePath]
try:
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(
launchFileList, None, loader=loader, verbose=False, assign_machines=False)
node_list = self.GetNodeList(config)
for node in node_list:
runningNodeList.append(node[1:])
rospy.loginfo(runningNodeList)
return runningNodeList
except RLException as e:
rospy.logerr(str(e))
return -1
def get_args(roslaunch_files):
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
return loader.root_context.resolve_dict['arg']