def create_node_process(run_id, node, master_uri):
"""
Factory for generating processes for launching local ROS
nodes. Also registers the process with the L{ProcessMonitor} so that
events can be generated when the process dies.
@param run_id: run_id of launch
@type run_id: str
@param node: node to launch. Node name must be assigned.
@type node: L{Node}
@param master_uri: API URI for master node
@type master_uri: str
@return: local process instance
@rtype: L{LocalProcess}
@raise NodeParamsException: If the node's parameters are improperly specific
"""
_logger.info(
"create_node_process: package[%s] type[%s] machine[%s] master_uri[%s]",
node.package, node.type, node.machine, master_uri)
# check input args
machine = node.machine
if machine is None:
raise RLException(
"Internal error: no machine selected for node of type [%s/%s]" %
(node.package, node.type))
if not node.name:
raise ValueError("node name must be assigned")
# - setup env for process (vars must be strings for os.environ)
env = setup_env(node, machine, master_uri)
if not node.name:
raise ValueError("node name must be assigned")
# we have to include the counter to prevent potential name
# collisions between the two branches
name = "%s-%s" % (rosgraph.names.ns_join(node.namespace,
node.name), _next_counter())
if name[0] == '/':
name = name[1:]
_logger.info('process[%s]: env[%s]', name, env)
args = create_local_process_args(node, machine)
_logger.info('process[%s]: args[%s]', name, args)
# default for node.output not set is 'log'
log_output = node.output != 'screen'
_logger.debug('process[%s]: returning LocalProcess wrapper')
return LocalProcess(run_id,
node.package,
name,
args,
env,
log_output,
respawn=node.respawn,
required=node.required,
cwd=node.cwd)
def create_node_process(run_id, node, master_uri):
"""
Factory for generating processes for launching local ROS
nodes. Also registers the process with the L{ProcessMonitor} so that
events can be generated when the process dies.
@param run_id: run_id of launch
@type run_id: str
@param node: node to launch. Node name must be assigned.
@type node: L{Node}
@param master_uri: API URI for master node
@type master_uri: str
@return: local process instance
@rtype: L{LocalProcess}
@raise NodeParamsException: If the node's parameters are improperly specific
"""
_logger.info(
"create_node_process: package[%s] type[%s] machine[%s] master_uri[%s]",
node.package,
node.type,
node.machine,
master_uri,
)
# check input args
machine = node.machine
if machine is None:
raise RLException("Internal error: no machine selected for node of type [%s/%s]" % (node.package, node.type))
if not node.name:
raise ValueError("node name must be assigned")
# - setup env for process (vars must be strings for os.environ)
env = setup_env(node, machine, master_uri)
if not node.name:
raise ValueError("node name must be assigned")
# we have to include the counter to prevent potential name
# collisions between the two branches
name = "%s-%s" % (rosgraph.names.ns_join(node.namespace, node.name), _next_counter())
if name[0] == "/":
name = name[1:]
_logger.info("process[%s]: env[%s]", name, env)
args = create_local_process_args(node, machine)
_logger.info("process[%s]: args[%s]", name, args)
# default for node.output not set is 'log'
log_output = node.output != "screen"
_logger.debug("process[%s]: returning LocalProcess wrapper")
return LocalProcess(
run_id, node.package, name, args, env, log_output, respawn=node.respawn, required=node.required, cwd=node.cwd
)
if __name__ == '__main__':
debug_node_name = None
debug_node_args = None
debug_launch_file = None
if len(sys.argv) != 3:
print 'usage: %s launch_file node_name' % sys.argv[0]
exit(1)
debug_launch_file = sys.argv[1]
debug_node_name = sys.argv[2]
env = None
args = None
error = None
debug_node = None
config = roslaunch.config.load_config_default([debug_launch_file], None)
for node in (config.nodes + config.tests):
fullname = rosgraph.names.ns_join(node.namespace, node.name)
if fullname == debug_node_name:
debug_node = node
if debug_node is None:
error = "Could not find a definition for %s" % debug_node_name
else:
env = setup_env(debug_node, debug_node.machine, os.environ[rosgraph.ROS_MASTER_URI])
args = create_local_process_args(debug_node, debug_node.machine)
print(json.dumps({ 'env': env, 'args': args, 'error': error }))
