def load(self, argv):
'''
@param argv: the list with argv parameter needed to load the launch file.
The name and value are separated by C{:=}
@type argv: C{[str]}
@return True, if the launch file was loaded
@rtype boolean
@raise LaunchConfigException: on load errors
'''
try:
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolveArgs(argv)
loader.load(self.Filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
nm.file_watcher().add_launch(self.__masteruri, self.__launchFile, self.__launch_id, self.getIncludedFiles(self.Filename))
if not nm.is_local(nm.nameres().getHostname(self.__masteruri)):
files = self.getIncludedFiles(self.Filename,
regexp_list=[QRegExp("\\bdefault\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b")])
nm.file_watcher_param().add_launch(self.__masteruri,
self.__launchFile,
self.__launch_id,
files)
except roslaunch.XmlParseException, e:
test = list(re.finditer(r"environment variable '\w+' is not set", str(e)))
message = str(e)
if test:
message = ''.join([message, '\n', 'environment substitution is not supported, use "arg" instead!'])
raise LaunchConfigException(message)
def load(self, argv):
'''
:param argv: a list with argv parameter needed to load the launch file.
The name and value are separated by `:=`
:type argv: list(str)
:return: True, if the launch file was loaded and argv, used while launch
:rtype: tuple(bool, [])
:raise LaunchConfigException: on load errors
'''
try:
self._capabilities = None
self._robot_description = None
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolve_args(argv)
loader.load(self.filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
if 'arg' in loader.root_context.resolve_dict:
self.resolve_dict = loader.root_context.resolve_dict['arg']
self.changed = True
except roslaunch.XmlParseException as e:
test = list(
re.finditer(r"environment variable '\w+' is not set", utf8(e)))
message = utf8(e)
if test:
message = '%s\nenvironment substitution is not supported, use "arg" instead!' % message
raise LaunchConfigException(message)
return True, self.argv
def roslaunch_load_check(ctx):
config = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
# TODO load roscore
for launch_file in ctx.launch_files:
loader.load(launch_file, config, verbose=False)
try:
config.assign_machines()
except roslaunch.RLException as e:
return str(e)
def _load_roslaunch_config(ctx):
config = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
# TODO load roscore
for launch_file in ctx.launch_files:
loader.load(launch_file, config, verbose=False)
try:
config.validate()
config.assign_machines()
except roslaunch.RLException, e:
return config, []
def launch_core(self):
self.log('Launching ros core services')
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
config.master.auto = config.master.AUTO_RESTART
launcher = roslaunch.ROSLaunchRunner(config)
launcher.launch()
return launcher
def launch(package, launch_name, args = []):
ros_master_id = rospy.get_param("/run_id")
pkg_path = rospkg.RosPack().get_path( package )
launch_path = "%s/launch/%s" % ( pkg_path, launch_name)
loader = roslaunch.XmlLoader()
config = roslaunch.ROSLaunchConfig()
loader.load( launch_path, config, argv=args )
runner = roslaunch.ROSLaunchRunner( ros_master_id, config )
runner.launch()
def launch_core():
# Launch the core, generate the run_id
# in the future this may need a rewrite as roslaunch gets the
# ability to remotely launch cores, but for now this is fine
config = roslaunch.ROSLaunchConfig()
config.master.auto = config.master.AUTO_START
run_id = roslaunch.core.generate_run_id()
core_launcher = roslaunch.ROSLaunchRunner(run_id, config)
core_launcher.launch()
return core_launcher
def load(self, argv):
'''
:param argv: a list with argv parameter needed to load the launch file.
The name and value are separated by `:=`
:type argv: list(str)
:return: True, if the launch file was loaded and argv, used while launch
:rtype: tuple(bool, [])
:raise LaunchConfigException: on load errors
'''
try:
self._capabilities = None
self._robot_description = None
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolve_args(argv)
loader.ignore_unset_args = False
loader.load(self.filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
if 'arg' in loader.root_context.resolve_dict:
self.resolve_dict = loader.root_context.resolve_dict['arg']
self.changed = True
# check for depricated parameter
diag_dep = DiagnosticArray()
if self._monitor_servicer is not None:
diag_dep.header.stamp = rospy.Time.now()
for n in roscfg.nodes:
node_fullname = roslib.names.ns_join(n.namespace, n.name)
associations_param = roslib.names.ns_join(
node_fullname, 'associations')
if associations_param in roscfg.params:
ds = DiagnosticStatus()
ds.level = DiagnosticStatus.WARN
ds.name = node_fullname
ds.message = 'Deprecated parameter detected'
ds.values.append(KeyValue('deprecated', 'associations'))
ds.values.append(KeyValue('new', 'nm/associations'))
rospy.logwarn(
"'associations' is deprecated, use 'nm/associations'! found for node: %s in %s"
% (node_fullname, self.filename))
diag_dep.status.append(ds)
if self._monitor_servicer is not None:
# set diagnostics
self._monitor_servicer._monitor._callback_diagnostics(diag_dep)
except roslaunch.XmlParseException as e:
test = list(
re.finditer(r"environment variable '\w+' is not set", utf8(e)))
message = utf8(e)
if test:
message = '%s\nenvironment substitution is not supported, use "arg" instead!' % message
raise LaunchConfigException(message)
return True, self.argv
def RunThread(self, arg):
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
# Try loading the XML file
try:
loader = roslaunch.XmlLoader()
loader.load(execution_path('ethernet_test.xml'), config)
except roslaunch.XmlParseException, e:
wx.CallAfter(
self.Cancel,
'Could not load back-end XML to launch necessary nodes. Make sure the GUI is up to date.'
)
return
def _load_roslaunch_config(ctx):
config = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
# TODO load roscore
for launch_file in ctx.launch_files:
loader.load(launch_file, config, verbose=False)
try:
config.assign_machines()
except roslaunch.RLException as e:
return config, []
machines = []
for n in itertools.chain(config.nodes, config.tests):
if n.machine not in machines:
machines.append(n.machine)
return config, machines
def launch_script(self, script):
self.log('Launching roslaunch file %s' % (script))
# Create a roslauncher
config = roslaunch.ROSLaunchConfig()
# Try loading the XML file
try:
loader = roslaunch.XmlLoader()
loader.load(script, config)
# Bring up the nodes
launcher = roslaunch.ROSLaunchRunner(config)
launcher.launch()
except roslaunch.RLException, e:
self.log('Failed to launch roslaunch file %s: %s' % (script, e))
return None
def syntastic_checker():
import re
import roslaunch
import roslaunch.loader
conf = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
try:
loader.load(vimp.buf.name, conf, verbose=False)
except roslaunch.XmlParseException as e:
rx = re.compile('(?:while processing (?P<filename>.*):\n)*'
'(?P<text>.*)'
'(?:: line (?P<lnum>\d+), column (?P<col>\d+))?')
g = rx.match(e.message)
if g is not None:
return [syntastic.Error(**g.groupdict())]
else:
return [
syntastic.Error(text='UPDATE RE TO HANDLE THIS TYPE OF'
'ERROR MESSAGE!' + str(e.message))
]
except roslaunch.loader.LoadException as e:
return [syntastic.Error(text=str(e.message))]
except roslaunch.RLException as e:
return [syntastic.Error(text=str(e.message))]
# no parsing errors, but there could be warnigns
warn = list()
for e in conf.config_errors:
g = re.match(r'\[(.*)\] (.*)', e)
if g is not None:
fn, text = g.groups()
warn.append(syntastic.Error(filename=fn, text=text, type='W'))
continue
g = re.match(r'WARN: (.*)', e)
if g is not None:
warn.append(syntastic.Error(text=g.groups()[0], type='W'))
continue
warn.append(
syntastic.Error(text='vim-ros does not know how to '
'parse this warning: "%s"' % e,
type='W'))
return warn
def RunThread(self, arg):
#Create a roslauncher
config = roslaunch.ROSLaunchConfig()
self.count = 1
self.finished = False
self.testcount = 1
self.ready = False
# Try loading the test XML file
try:
xmlFile = execution_path(
str('xml/' + self.serial1 + '_forearm_test.xml'))
loader = roslaunch.XmlLoader()
loader.load(xmlFile, config)
except roslaunch.XmlParseException, e:
wx.CallAfter(
self.Cancel,
'Could not load back-end XML to launch necessary nodes. Make sure the GUI is up to date.'
)
return
