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 = create_local_process_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" % (node.name, _next_counter())
_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 = create_local_process_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"%(roslib.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 test_create_local_process_env(self):
# this is almost entirely identical to the setup_env test in test_core, with some additional
# higher level checks
from roslaunch.core import Node, Machine
from roslaunch.node_args import create_local_process_env
ros_root = '/ros/root1'
rpp = '/rpp1'
master_uri = 'http://masteruri:1234'
n = Node('nodepkg','nodetype')
m = Machine('name1', ros_root, rpp, '1.2.3.4')
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.path.join(ros_root, 'core', 'roslib', 'src'))
self.assertEquals(d['ROS_PACKAGE_PATH'], rpp)
for k in ['ROS_IP', 'ROS_NAMESPACE']:
if k in d:
self.fail('%s should not be set: %s'%(k,d[k]))
# test that it inherits local environment
env = os.environ.copy()
env['PATH'] = '/some/path'
env['FOO'] = 'foo'
d = create_local_process_env(n, m, master_uri, env=env)
self.assertEquals(d['FOO'], 'foo')
# test that it defaults to os.environ
os.environ['FOO'] = 'bar'
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['FOO'], 'bar')
# test that our ROS_ROOT and PYTHONPATH override env
env = os.environ.copy()
env['ROS_ROOT'] = '/not/ros/root/'
env['PYTHONPATH'] = '/some/path'
d = create_local_process_env(n, m, master_uri, env=env)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.path.join(ros_root, 'core', 'roslib', 'src'))
# - make sure it didn't pollute original env
self.assertEquals(env['ROS_ROOT'], '/not/ros/root/')
self.assertEquals(env['PYTHONPATH'], '/some/path')
# don't set ROS_ROOT and ROS_PACKAGE_PATH. ROS_ROOT should default, ROS_PACKAGE_PATH does not
m = Machine('name1', '', '', '1.2.3.4')
d = create_local_process_env(n, m, master_uri)
val = os.environ['ROS_ROOT']
self.assertEquals(d['ROS_ROOT'], val)
self.assertEquals(d['PYTHONPATH'], os.path.join(val, 'core', 'roslib', 'src'))
self.failIf('ROS_PACKAGE_PATH' in d, 'ROS_PACKAGE_PATH should not be set: %s'%d)
# test ROS_IP
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7")
n = Node('nodepkg','nodetype', namespace="/ns1")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns1")
# test stripping
n = Node('nodepkg','nodetype', namespace="/ns2/")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns2")
# test ROS_NAMESPACE
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_IP'], "4.5.6.7")
# test node.env_args
n = Node('nodepkg','nodetype', env_args=[('NENV1', 'val1'), ('NENV2', 'val2'), ('ROS_ROOT', '/new/root')])
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root")
self.assertEquals(d['NENV1'], "val1")
self.assertEquals(d['NENV2'], "val2")
# test machine.env_args
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7", env_args=[('MENV1', 'val1'), ('MENV2', 'val2'), ('ROS_ROOT', '/new/root2')])
n = Node('nodepkg','nodetype')
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root2")
self.assertEquals(d['MENV1'], "val1")
self.assertEquals(d['MENV2'], "val2")
# test node.env_args precedence
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7", env_args=[('MENV1', 'val1'), ('MENV2', 'val2')])
n = Node('nodepkg','nodetype', env_args=[('MENV1', 'nodeval1')])
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['MENV1'], "nodeval1")
self.assertEquals(d['MENV2'], "val2")
def test_create_local_process_env(self):
# this is almost entirely identical to the setup_env test in test_core, with some additional
# higher level checks
from roslaunch.core import Node, Machine
from roslaunch.node_args import create_local_process_env
ros_root = '/ros/root1'
rpp = '/rpp1'
master_uri = 'http://masteruri:1234'
n = Node('nodepkg','nodetype')
m = Machine('name1', ros_root, rpp, '1.2.3.4')
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.path.join(ros_root, 'core', 'roslib', 'src'))
self.assertEquals(d['ROS_PACKAGE_PATH'], rpp)
for k in ['ROS_IP', 'ROS_NAMESPACE']:
if k in d:
self.fail('%s should not be set: %s'%(k,d[k]))
# test that it inherits local environment
env = os.environ.copy()
env['PATH'] = '/some/path'
env['FOO'] = 'foo'
d = create_local_process_env(n, m, master_uri, env=env)
self.assertEquals(d['FOO'], 'foo')
# test that it defaults to os.environ
os.environ['FOO'] = 'bar'
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['FOO'], 'bar')
# test that our ROS_ROOT and PYTHONPATH override env
env = os.environ.copy()
env['ROS_ROOT'] = '/not/ros/root/'
env['PYTHONPATH'] = '/some/path'
d = create_local_process_env(n, m, master_uri, env=env)
self.assertEquals(d['ROS_ROOT'], ros_root)
self.assertEquals(d['PYTHONPATH'], os.path.join(ros_root, 'core', 'roslib', 'src'))
# - make sure it didn't pollute original env
self.assertEquals(env['ROS_ROOT'], '/not/ros/root/')
self.assertEquals(env['PYTHONPATH'], '/some/path')
# don't set ROS_ROOT and ROS_PACKAGE_PATH. ROS_ROOT should default, ROS_PACKAGE_PATH does not
m = Machine('name1', '', '', '1.2.3.4')
d = create_local_process_env(n, m, master_uri)
val = os.environ['ROS_ROOT']
self.assertEquals(d['ROS_ROOT'], val)
self.assertEquals(d['PYTHONPATH'], os.path.join(val, 'core', 'roslib', 'src'))
self.failIf('ROS_PACKAGE_PATH' in d, 'ROS_PACKAGE_PATH should not be set: %s'%d)
# test ROS_IP
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7")
n = Node('nodepkg','nodetype', namespace="/ns1")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns1")
# test stripping
n = Node('nodepkg','nodetype', namespace="/ns2/")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns2")
# test ROS_NAMESPACE
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7")
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_IP'], "4.5.6.7")
# test node.env_args
n = Node('nodepkg','nodetype', env_args=[('NENV1', 'val1'), ('NENV2', 'val2'), ('ROS_ROOT', '/new/root')])
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root")
self.assertEquals(d['NENV1'], "val1")
self.assertEquals(d['NENV2'], "val2")
# test machine.env_args
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7", env_args=[('MENV1', 'val1'), ('MENV2', 'val2'), ('ROS_ROOT', '/new/root2')])
n = Node('nodepkg','nodetype')
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root2")
self.assertEquals(d['MENV1'], "val1")
self.assertEquals(d['MENV2'], "val2")
# test node.env_args precedence
m = Machine('name1', ros_root, rpp, '1.2.3.4', ros_ip="4.5.6.7", env_args=[('MENV1', 'val1'), ('MENV2', 'val2')])
n = Node('nodepkg','nodetype', env_args=[('MENV1', 'nodeval1')])
d = create_local_process_env(n, m, master_uri)
self.assertEquals(d['MENV1'], "nodeval1")
self.assertEquals(d['MENV2'], "val2")