def _init_signal_handlers():
global _sig_initialized
if _sig_initialized:
return
if not roslib.is_interactive():
_signal_chain[signal.SIGTERM] = signal.signal(signal.SIGTERM, rl_signal)
_signal_chain[signal.SIGINT] = signal.signal(signal.SIGINT, rl_signal)
_signal_chain[signal.SIGHUP] = signal.signal(signal.SIGHUP, rl_signal)
atexit.register(pmon_shutdown)
_sig_initialized = True
def test_interactive():
import roslib
# make sure that it's part of high-level API
assert not roslib.is_interactive(), "interactive should be false by default"
for v in [True, False]:
roslib.set_interactive(v)
assert v == roslib.is_interactive()
def test_interactive():
import roslib
# make sure that it's part of high-level API
assert not roslib.is_interactive(
), 'interactive should be false by default'
for v in [True, False]:
roslib.set_interactive(v)
assert v == roslib.is_interactive()
def test_interactive(self):
import roslib
import roslib.scriptutil
# make sure that it's part of high-level API
self.failIf(roslib.is_interactive(), "interactive should be false by default")
for v in [True, False]:
roslib.set_interactive(v)
self.assertEquals(v, roslib.is_interactive())
self.assertEquals(v, roslib.scriptutil.is_interactive())
def test_interactive(self):
import roslib
import roslib.scriptutil
# make sure that it's part of high-level API
self.failIf(roslib.is_interactive(),
"interactive should be false by default")
for v in [True, False]:
roslib.set_interactive(v)
self.assertEquals(v, roslib.is_interactive())
self.assertEquals(v, roslib.scriptutil.is_interactive())
def _init_signal_handlers():
global _sig_initialized
if _sig_initialized:
return
if not roslib.is_interactive():
for s in _signal_list:
_signal_chain[s] = signal.signal(s, rl_signal)
atexit.register(pmon_shutdown)
_sig_initialized = True
def _init_signal_handlers():
global _sig_initialized
if _sig_initialized:
return
if not roslib.is_interactive():
for s in _signal_list:
_signal_chain[s] = signal.signal(s, rl_signal)
atexit.register(pmon_shutdown)
_sig_initialized = True
def _init_signal_handlers():
global _sig_initialized
if _sig_initialized:
return
if not roslib.is_interactive():
_signal_chain[signal.SIGTERM] = signal.signal(signal.SIGTERM,
rl_signal)
_signal_chain[signal.SIGINT] = signal.signal(signal.SIGINT, rl_signal)
_signal_chain[signal.SIGHUP] = signal.signal(signal.SIGHUP, rl_signal)
atexit.register(pmon_shutdown)
_sig_initialized = True
def init_node(name,
argv=None,
anonymous=False,
log_level=None,
disable_rostime=False,
disable_rosout=False,
disable_signals=False):
"""
Register client node with the master under the specified name.
This MUST be called from the main Python thread unless
disable_signals is set to True. Duplicate calls to init_node are
only allowed if the arguments are identical as the side-effects of
this method are not reversible.
@param name: Node's name. This parameter must be a base name,
meaning that it cannot contain namespaces (i.e. '/')
@type name: str
@param argv: Command line arguments to this program, including
remapping arguments (default: sys.argv). If you provide argv
to init_node(), any previously created rospy data structure
(Publisher, Subscriber, Service) will have invalid
mappings. It is important that you call init_node() first if
you wish to provide your own argv.
@type argv: [str]
@param anonymous: if True, a name will be auto-generated for the
node using name as the base. This is useful when you wish to
have multiple instances of the same node and don't care about
their actual names (e.g. tools, guis). name will be used as
the stem of the auto-generated name. NOTE: you cannot remap
the name of an anonymous node.
@type anonymous: bool
@param log_level: log level for sending message to /rosout and log
file, which is INFO by default. For convenience, you may use
rospy.DEBUG, rospy.INFO, rospy.ERROR, rospy.WARN, rospy.FATAL
@type log_level: int
@param disable_signals: If True, rospy will not register its own
signal handlers. You must set this flag if (a) you are unable
to call init_node from the main thread and/or you are using
rospy in an environment where you need to control your own
signal handling (e.g. WX). If you set this to True, you should
call rospy.signal_shutdown(reason) to initiate clean shutdown.
NOTE: disable_signals is overridden to True if
roslib.is_interactive() is True.
@type disable_signals: bool
@param disable_rostime: for internal testing only: suppresses
automatic subscription to rostime
@type disable_rostime: bool
@param disable_rosout: for internal testing only: suppress
auto-publication of rosout
@type disable_rostime: bool
@raise ROSInitException: if initialization/registration fails
@raise ValueError: if parameters are invalid (e.g. name contains a namespace or is otherwise illegal)
"""
if argv is None:
argv = sys.argv
else:
# reload the mapping table. Any previously created rospy data
# structure does *not* reinitialize based on the new mappings.
rospy.names.reload_mappings(argv)
# this test can be eliminated once we change from warning to error in the next check
if rosgraph.names.SEP in name:
raise ValueError("namespaces are not allowed in node names")
if not rosgraph.names.is_legal_base_name(name):
import warnings
warnings.warn(
"'%s' is not a legal ROS base name. This may cause problems with other ROS tools"
% name,
stacklevel=2)
global _init_node_args
# #972: allow duplicate init_node args if calls are identical
# NOTE: we don't bother checking for node name aliases (e.g. 'foo' == '/foo').
if _init_node_args:
if _init_node_args != (name, argv, anonymous, log_level,
disable_rostime, disable_signals):
raise rospy.exceptions.ROSException(
"rospy.init_node() has already been called with different arguments: "
+ str(_init_node_args))
else:
return #already initialized
# for scripting environments, we don't want to use the ROS signal
# handlers
disable_signals = disable_signals or roslib.is_interactive()
_init_node_args = (name, argv, anonymous, log_level, disable_rostime,
disable_signals)
if not disable_signals:
# NOTE: register_signals must be called from main thread
rospy.core.register_signals() # add handlers for SIGINT/etc...
else:
logdebug("signal handlers for rospy disabled")
# check for name override
mappings = rospy.names.get_mappings()
if '__name' in mappings:
# use rosgraph version of resolve_name to avoid remapping
name = rosgraph.names.resolve_name(mappings['__name'],
rospy.core.get_caller_id())
if anonymous:
logdebug(
"[%s] WARNING: due to __name setting, anonymous setting is being changed to false"
% name)
anonymous = False
if anonymous:
# not as good as a uuid/guid, but more readable. can't include
# hostname as that is not guaranteed to be a legal ROS name
name = "%s_%s_%s" % (name, os.getpid(), int(time.time() * 1000))
resolved_node_name = rospy.names.resolve_name(name)
rospy.core.configure_logging(resolved_node_name)
# #1810
rospy.names.initialize_mappings(resolved_node_name)
logger = logging.getLogger("rospy.client")
logger.info("init_node, name[%s], pid[%s]", resolved_node_name,
os.getpid())
# node initialization blocks until registration with master
node = rospy.impl.init.start_node(os.environ, resolved_node_name)
rospy.core.set_node_uri(node.uri)
rospy.core.add_shutdown_hook(node.shutdown)
if rospy.core.is_shutdown():
logger.warn(
"aborting node initialization as shutdown has been triggered")
raise rospy.exceptions.ROSInitException(
"init_node interrupted before it could complete")
# upload private params (set via command-line) to parameter server
_init_node_params(argv, name)
rospy.core.set_initialized(True)
if not disable_rosout:
rospy.impl.rosout.init_rosout()
rospy.impl.rosout.load_rosout_handlers(log_level)
if not disable_rostime:
if not rospy.impl.simtime.init_simtime():
raise rospy.exceptions.ROSInitException(
"Failed to initialize time. Please check logs for additional details"
)
else:
rospy.rostime.set_rostime_initialized(True)
logdebug("init_node, name[%s], pid[%s]", resolved_node_name, os.getpid())
# advertise logging level services
Service('~get_loggers', GetLoggers, _get_loggers)
Service('~set_logger_level', SetLoggerLevel, _set_logger_level)
def init_node(name, argv=None, anonymous=False, log_level=None, disable_rostime=False, disable_rosout=False, disable_signals=False, xmlrpc_port=0, tcpros_port=0):
"""
Register client node with the master under the specified name.
This MUST be called from the main Python thread unless
disable_signals is set to True. Duplicate calls to init_node are
only allowed if the arguments are identical as the side-effects of
this method are not reversible.
@param name: Node's name. This parameter must be a base name,
meaning that it cannot contain namespaces (i.e. '/')
@type name: str
@param argv: Command line arguments to this program, including
remapping arguments (default: sys.argv). If you provide argv
to init_node(), any previously created rospy data structure
(Publisher, Subscriber, Service) will have invalid
mappings. It is important that you call init_node() first if
you wish to provide your own argv.
@type argv: [str]
@param anonymous: if True, a name will be auto-generated for the
node using name as the base. This is useful when you wish to
have multiple instances of the same node and don't care about
their actual names (e.g. tools, guis). name will be used as
the stem of the auto-generated name. NOTE: you cannot remap
the name of an anonymous node.
@type anonymous: bool
@param log_level: log level for sending message to /rosout and log
file, which is INFO by default. For convenience, you may use
rospy.DEBUG, rospy.INFO, rospy.ERROR, rospy.WARN, rospy.FATAL
@type log_level: int
@param disable_signals: If True, rospy will not register its own
signal handlers. You must set this flag if (a) you are unable
to call init_node from the main thread and/or you are using
rospy in an environment where you need to control your own
signal handling (e.g. WX). If you set this to True, you should
call rospy.signal_shutdown(reason) to initiate clean shutdown.
NOTE: disable_signals is overridden to True if
roslib.is_interactive() is True.
@type disable_signals: bool
@param disable_rostime: for internal testing only: suppresses
automatic subscription to rostime
@type disable_rostime: bool
@param disable_rosout: for internal testing only: suppress
auto-publication of rosout
@type disable_rostime: bool
@param xmlrpc_port: If provided, it will use this port number for the client
XMLRPC node.
@type xmlrpc_port: int
@param tcpros_port: If provided, the TCPROS server will listen for
connections on this port
@type tcpros_port: int
@raise ROSInitException: if initialization/registration fails
@raise ValueError: if parameters are invalid (e.g. name contains a namespace or is otherwise illegal)
"""
if argv is None:
argv = sys.argv
else:
# reload the mapping table. Any previously created rospy data
# structure does *not* reinitialize based on the new mappings.
rospy.names.reload_mappings(argv)
# this test can be eliminated once we change from warning to error in the next check
if rosgraph.names.SEP in name:
raise ValueError("namespaces are not allowed in node names")
if not rosgraph.names.is_legal_base_name(name):
import warnings
warnings.warn("'%s' is not a legal ROS base name. This may cause problems with other ROS tools"%name, stacklevel=2)
global _init_node_args
# #972: allow duplicate init_node args if calls are identical
# NOTE: we don't bother checking for node name aliases (e.g. 'foo' == '/foo').
if _init_node_args:
if _init_node_args != (name, argv, anonymous, log_level, disable_rostime, disable_signals):
raise rospy.exceptions.ROSException("rospy.init_node() has already been called with different arguments: "+str(_init_node_args))
else:
return #already initialized
# for scripting environments, we don't want to use the ROS signal
# handlers
disable_signals = disable_signals or roslib.is_interactive()
_init_node_args = (name, argv, anonymous, log_level, disable_rostime, disable_signals)
if not disable_signals:
# NOTE: register_signals must be called from main thread
rospy.core.register_signals() # add handlers for SIGINT/etc...
else:
logdebug("signal handlers for rospy disabled")
# check for name override
mappings = rospy.names.get_mappings()
if '__name' in mappings:
# use rosgraph version of resolve_name to avoid remapping
name = rosgraph.names.resolve_name(mappings['__name'], rospy.core.get_caller_id())
if anonymous:
logdebug("[%s] WARNING: due to __name setting, anonymous setting is being changed to false"%name)
anonymous = False
if anonymous:
# not as good as a uuid/guid, but more readable. can't include
# hostname as that is not guaranteed to be a legal ROS name
name = "%s_%s_%s"%(name, os.getpid(), int(time.time()*1000))
resolved_node_name = rospy.names.resolve_name(name)
rospy.core.configure_logging(resolved_node_name)
# #1810
rospy.names.initialize_mappings(resolved_node_name)
logger = logging.getLogger("rospy.client")
logger.info("init_node, name[%s], pid[%s]", resolved_node_name, os.getpid())
# node initialization blocks until registration with master
node = rospy.impl.init.start_node(os.environ, resolved_node_name, port=xmlrpc_port, tcpros_port=tcpros_port)
rospy.core.set_node_uri(node.uri)
rospy.core.add_shutdown_hook(node.shutdown)
if rospy.core.is_shutdown():
logger.warn("aborting node initialization as shutdown has been triggered")
raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
# upload private params (set via command-line) to parameter server
_init_node_params(argv, name)
rospy.core.set_initialized(True)
if not disable_rosout:
rospy.impl.rosout.init_rosout()
rospy.impl.rosout.load_rosout_handlers(log_level)
if not disable_rostime:
if not rospy.impl.simtime.init_simtime():
raise rospy.exceptions.ROSInitException("Failed to initialize time. Please check logs for additional details")
else:
rospy.rostime.set_rostime_initialized(True)
logdebug("init_node, name[%s], pid[%s]", resolved_node_name, os.getpid())
# advertise logging level services
Service('~get_loggers', GetLoggers, _get_loggers)
Service('~set_logger_level', SetLoggerLevel, _set_logger_level)
