def roscore_start(self):
output.console_log("Starting ROS Master (roscore)...")
self.roscore_proc = ProcessProcedure.subprocess_spawn("roscore", "roscore_start")
while not ProcessProcedure.process_is_running('roscore') and \
not ProcessProcedure.process_is_running('rosmaster') and \
not ProcessProcedure.process_is_running('rosout'):
output.console_log_animated("Waiting to confirm roscore running...")
output.console_log_bold("ROS Master (roscore) is running!")
time.sleep(1) # Give roscore some time to initiate
def rosbag_start_recording_topics(self, topics, file_path, bag_name):
file_path += "-ros2"
output.console_log(f"Rosbag2 starts recording...")
output.console_log_bold("Recording topics: ")
# Build 'rosbag record -O filename [/topic1 /topic2 ...] __name:=bag_name' command
command = f" ros2 bag record --output {file_path}"
for topic in topics:
command += f" {topic}"
output.console_log_bold(f" * {topic}")
ProcessProcedure.subprocess_spawn(command, "ros2bag_record")
time.sleep(1) # Give rosbag recording some time to initiate
def sim_shutdown(self):
output.console_log("Shutting down sim run...")
subprocess.call("rosservice call /gazebo/reset_simulation \"{}\"", shell=True)
self.roslaunch_proc.send_signal(signal.SIGINT)
try:
with open("/tmp/roslaunch.pid", 'r') as myfile:
pid = int(myfile.read())
os.kill(pid, signal.SIGINT)
except FileNotFoundError:
output.console_log("roslaunch pid not found, continuing normally...")
while self.roslaunch_proc.poll() is None:
output.console_log_animated("Waiting for graceful exit...")
ProcessProcedure.subprocess_call('rosnode kill -a', "rosnode_kill")
output.console_log("Sim run successfully shutdown!")
def run(self):
output.console_log(f"Running script: {self.path}")
output.console_log(f"Script command: {self.command}")
ProcessProcedure.subprocess_spawn(self.command, "run_script_model")
def run_complete_gracefully(self):
if self.script_proc:
ProcessProcedure.subprocess_terminate(self.script_proc,
"run_script_process")
def sim_shutdown(self):
output.console_log("Shutting down sim run...")
ProcessProcedure.subprocess_call("ros2 service call /reset_simulation std_srvs/srv/Empty {}", "ros2_reset_call")
ProcessProcedure.process_kill_by_name("gzserver")
ProcessProcedure.process_kill_by_name("gzclient")
ProcessProcedure.process_kill_by_name("_ros2_daemon")
ProcessProcedure.process_kill_by_name("ros2")
ProcessProcedure.process_kill_by_cmdline("/opt/ros/")
while ProcessProcedure.process_is_running("gzserver") or \
ProcessProcedure.process_is_running("gzclient") or \
ProcessProcedure.process_is_running("ros2") or \
ProcessProcedure.process_is_running("_ros2_daemon"):
output.console_log_animated("Waiting for graceful exit...")
output.console_log("Sim run successfully shutdown!")
def roslaunch_launch_file(self, launch_file: Path):
output.console_log(f"ros2 launch {launch_file}")
command = f"ros2 launch {launch_file}"
self.roslaunch_proc = ProcessProcedure.subprocess_spawn(command, "ros2_launch_file")
def native_shutdown(self):
output.console_log("Shutting down native run...")
ProcessProcedure.subprocess_call('rosnode kill -a', "rosnode_kill")
ProcessProcedure.process_kill_by_name('rosmaster')
ProcessProcedure.process_kill_by_name('roscore')
ProcessProcedure.process_kill_by_name('rosout')
while ProcessProcedure.process_is_running('rosmaster') and \
ProcessProcedure.process_is_running('roscore') and \
ProcessProcedure.process_is_running('rosout'):
output.console_log_animated("Waiting for roscore to gracefully exit...")
output.console_log("Native run successfully shutdown!")
def rosbag_stop_recording_topics(self, bag_name):
output.console_log(f"Stop recording rosbag on ROS node: {bag_name}")
ProcessProcedure.subprocess_call(f"rosnode kill {bag_name}", "ros1bag_kill")
def roslaunch_launch_file(self, launch_file: Path):
output.console_log(f"Roslaunch {launch_file}")
command = f"roslaunch --pid=/tmp/roslaunch.pid {launch_file}"
self.roslaunch_proc = ProcessProcedure.subprocess_spawn(command, "ros1_launch_file")