def get_process_for_ros_node(self, node_name):
target_node = None
caller_id = '/experiment_manager'
master = rosgraph.Master(caller_id)
running_nodes = rosnode.get_node_names()
for node in running_nodes:
if node_name in node:
if target_node is None:
target_node = node
else:
rospy.logwarn("Multiple nodes found whose name "
"contains " + node_name)
return None
if target_node is None:
rospy.logwarn("Could not find a node whose name contains " +
node_name)
return None
target_node_api = rosnode.get_api_uri(master, target_node)
if not target_node_api:
rospy.logwarn("Could not connect to " + target_node + "'s API")
return None
target_node = ServerProxy(target_node_api)
target_node_pid = rosnode._succeed(
target_node.getPid(caller_id)) # NOLINT
rospy.loginfo('Registered %s node PID %i for resource '
'usage tracking' % (node_name, target_node_pid))
return psutil.Process(target_node_pid)
def getnodepkg1(self, node_name):
socket.setdefaulttimeout(1.0)
master = roslib.scriptutil.get_master()
node_api = rosnode.get_api_uri(master, node_name)
host = node_api.split(':')[1].lstrip('/')
node = xmlrpclib.ServerProxy(node_api)
try:
pid = rosnode._succeed(node.getPid(rosnode.ID))
except socket.error:
print("Communication with [%s=%s] failed!"%(node_name,node_api))
return ['']
cmd = ['ps','ww','--pid',str(pid)]
if os.environ['ROS_IP'] != host and os.environ['ROS_HOSTNAME'] != host:
ssh_target = self.user + '@' + host if self.user else hostname
cmd = ['ssh', ssh_target] + cmd
self.add_pkginfo_remote(host)
ps = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
res = ps[ps.find('/'):]
node_args = res.split(' ')
parsed = node_args[0].split('/')
pkgnames = [pkg[0] for pkg in self.pkginfo[host]]
result = [dirname for dirname in parsed if (dirname in pkgnames)]
if len(result) == 0:
result = ['']
return result
def main():
rospy.init_node('start_user_mon', anonymous=True)
try:
from xmlrpc.client import ServerProxy
except ImportError:
from xmlrpclib import ServerProxy
ID = '/rosnode'
master = rosgraph.Master(ID, master_uri=None)
global process, loc
process = {}
loc = rospy.get_param("/script_location")
while not rospy.is_shutdown():
nodes = rosnode.get_node_names()
for node in nodes:
name = " " + node
name = name[2:]
node_api = rosnode.get_api_uri(master, node)
if not node_api:
continue
node = ServerProxy(node_api)
pid = rosnode._succeed(node.getPid(ID))
if process.has_key(pid):
continue
process[pid] = name
print("nohup " + loc + "/usage-mon " + str(pid) + " " + name +
" &")
os.system("nohup " + loc + "/usage-mon " + str(pid) + " " + name +
" &")
def getnodepkg1(self, node_name):
socket.setdefaulttimeout(1.0)
master = roslib.scriptutil.get_master()
node_api = rosnode.get_api_uri(master, node_name)
host = node_api.split(':')[1].lstrip('/')
node = xmlrpclib.ServerProxy(node_api)
try:
pid = rosnode._succeed(node.getPid(rosnode.ID))
except socket.error:
print("Communication with [%s=%s] failed!" % (node_name, node_api))
return ['']
cmd = ['ps', 'ww', '--pid', str(pid)]
if os.environ['ROS_IP'] != host and os.environ['ROS_HOSTNAME'] != host:
ssh_target = self.user + '@' + host if self.user else hostname
cmd = ['ssh', ssh_target] + cmd
self.add_pkginfo_remote(host)
ps = subprocess.Popen(cmd,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE).communicate()[0]
res = ps[ps.find('/'):]
node_args = res.split(' ')
parsed = node_args[0].split('/')
pkgnames = [pkg[0] for pkg in self.pkginfo[host]]
result = [dirname for dirname in parsed if (dirname in pkgnames)]
if len(result) == 0:
result = ['']
return result
def get_topicname_by_node(nodename):
master = xmlrpclib.ServerProxy(os.environ['ROS_MASTER_URI'])
try:
state = rosnode._succeed(master.getSystemState(rospy.get_name()))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
pubs = [t for t, l in state[0] if nodename in l]
subs = [t for t, l in state[1] if nodename in l]
return pubs, subs # in,out
def discover_ros_nodes(self):
self.nodes = {}
node_names = rosnode.get_node_names()
logging.info("Known nodes: " + ', '.join(node_names))
for node_name in node_names:
logging.info(" " + node_name)
node_api = rosnode.get_api_uri(self.master, node_name)
if not node_api:
sys.stderr.write(" API URI: error (unknown node: %s)" %
str(node_name))
continue
logging.info(" API URI: " + node_api)
node = ServerProxy(node_api)
pid = rosnode._succeed(node.getPid(ID))
logging.info(" PID : " + str(pid))
self.nodes[node_name] = {}
self.nodes[node_name]['uri'] = node_api
self.nodes[node_name]['pid'] = pid
def check(self):
while not rospy.is_shutdown():
ID = '/rosnode'
master = rosgraph.Master(ID, master_uri="http://tbw:11311/")
node_api = rosnode.get_api_uri(master, '/gazebo')
msg = Bool()
try:
node = ServerProxy(node_api)
pid = rosnode._succeed(node.getPid(ID))
if not self._pid_running(pid):
msg.data = False
self._pid_pub.publish(msg)
else:
msg.data = True
self._pid_pub.publish(msg)
except TypeError:
os.system("killall gzserver")
msg.data = False
self._pid_pub.publish(msg)
exit()
# lots of things 'borrowed' from rosnode
try:
from xmlrpc.client import ServerProxy
except ImportError:
from xmlrpclib import ServerProxy
parser = argparse.ArgumentParser()
parser.add_argument('ROS_MASTER_URI', type=str, nargs='?', metavar='URI', help='ROS master URI to use.')
args = parser.parse_args()
ID = '/rosnode'
master = rosgraph.Master(ID, master_uri=args.ROS_MASTER_URI)
print ("Using master at {}".format(master.getUri()))
nodes = rosnode.get_node_names()
print ("Known nodes: " + ', '.join(nodes))
for node in nodes:
print (" " + node)
node_api = rosnode.get_api_uri(master, node)
if not node_api:
print(" API URI: error (unknown node: {}?)".format(node))
continue
print (" API URI: " + node_api)
node = ServerProxy(node_api)
pid = rosnode._succeed(node.getPid(ID))
print (" PID : {}".format(pid))
