def test_get_cwd(self):
test_path = '/this/is/path/to'
result_path = get_cwd('node', '%s/bin' % test_path)
self.assertEqual(
test_path, result_path,
"wrong get_cwd from 'node' type, expected: %s, got: %s" %
(test_path, result_path))
test_path = os.getcwd()
result_path = get_cwd('cwd', '')
self.assertEqual(
test_path, result_path,
"wrong get_cwd from 'cwd' type, expected: %s, got: %s" %
(test_path, result_path))
test_path = rospkg.get_ros_root()
result_path = get_cwd('ros-root', '')
self.assertEqual(
test_path, result_path,
"wrong get_cwd from 'ros-root' type, expected: %s, got: %s" %
(test_path, result_path))
test_path = rospkg.get_ros_home()
result_path = get_cwd('', '')
self.assertEqual(
test_path, result_path,
"wrong get_cwd from empty type, expected: %s, got: %s" %
(test_path, result_path))
def bc_run_node(cls,
name,
grpc_path='grpc://localhost:12321',
masteruri='',
reload_global_param=False,
loglevel='',
logformat='',
auto_pw_request=False,
user=None,
pw=None):
'''
Start the node with given name from the given configuration.
:param runcfg: the configuration containing the start parameter
:type runcfg: AdvRunCfg
:raise StartException: if the screen is not available on host.
:raise Exception: on errors while resolving host
:see: :meth:`fkie_node_manager.is_local()`
'''
startcfg = nm.nmd().launch.get_start_cfg(
name,
grpc_path,
masteruri,
reload_global_param=reload_global_param,
loglevel=loglevel,
logformat=logformat)
new_env = dict(startcfg.env)
# set logging options
if startcfg.namespace:
new_env['ROS_NAMESPACE'] = startcfg.namespace
# set logging
if startcfg.logformat:
new_env['ROSCONSOLE_FORMAT'] = '%s' % startcfg.logformat
# if startcfg.loglevel:
# new_env['ROSCONSOLE_CONFIG_FILE'] = launcher._rosconsole_cfg_file(startcfg.package, startcfg.loglevel)
args = []
# set name and namespace of the node
if startcfg.name:
args.append("__name:=%s" % startcfg.name)
if startcfg.namespace:
args.append("__ns:=%s" % startcfg.namespace)
# add remap arguments
for key, val in startcfg.remaps.items():
args.append("%s:=%s" % (key, val))
# handle respawn
if startcfg.respawn:
if startcfg.respawn_delay > 0:
new_env['RESPAWN_DELAY'] = '%d' % startcfg.respawn_delay
respawn_params = launcher._get_respawn_params(
startcfg.fullname, startcfg.params)
if respawn_params['max'] > 0:
new_env['RESPAWN_MAX'] = '%d' % respawn_params['max']
if respawn_params['min_runtime'] > 0:
new_env['RESPAWN_MIN_RUNTIME'] = '%d' % respawn_params[
'min_runtime']
if startcfg.cwd:
cwd = get_cwd(startcfg.cwd, startcfg.binary_path)
if cwd:
args.append('__cwd:=%s' % cwd)
# check for masteruri
masteruri = startcfg.masteruri
on_hostname = startcfg.hostname
if masteruri is None:
masteruri = masteruri_from_ros()
if masteruri is not None:
new_env['ROS_MASTER_URI'] = masteruri
if 'ROS_HOSTNAME' in os.environ:
# set only ROS_HOSTNAME if node manager have also one
ros_hostname = nmdhost.get_ros_hostname(masteruri, on_hostname)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# load params to ROS master
launcher._load_parameters(masteruri, startcfg.params,
startcfg.clear_params)
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # package names
# # set the global parameter
# if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done:
# global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg)
# rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in global_node_names.values()))
# abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request)
# runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri)
#
# # add params
# if runcfg.masteruri is not None:
# nodens = ''.join([n.namespace, n.name, rospy.names.SEP])
# params = dict()
# for param, value in runcfg.roslaunch_config.Roscfg.params.items():
# if param.startswith(nodens):
# params[param] = value
# clear_params = []
# for cparam in runcfg.roslaunch_config.Roscfg.clear_params:
# if cparam.startswith(nodens):
# clear_params.append(cparam)
# rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params))
# rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in params.values()))
# abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
if not nm.is_local(on_hostname, wait=True):
# start remote
if not startcfg.package:
raise StartException(
"Can't run remote without a valid package name!")
# setup environment
env_command = ''
if new_env:
try:
for k, v in new_env.items():
v_value, is_abs_path, found, package = cls._bc_resolve_abs_paths(
v, on_hostname, auto_pw_request, user, pw)
new_env[k] = v_value
if is_abs_path:
abs_paths.append(('ENV', "%s=%s" % (k, v),
"%s=%s" % (k, v_value)))
if not found and package:
not_found_packages.append(package)
env_command = "env " + ' '.join(
["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()])
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(
e, cls.bc_run_node, {
'name': name,
'grpc_path': grpc_path,
'masteruri': masteruri,
'reload_global_param': reload_global_param,
'loglevel': loglevel,
'logformat': logformat,
'auto_pw_request': auto_pw_request,
'user': user,
'pw': pw
})
startcmd = [
env_command,
nm.settings().start_remote_script, '--package',
utf8(startcfg.package), '--node_type',
utf8(startcfg.binary), '--node_name',
utf8(startcfg.fullname),
'--node_respawn true' if startcfg.respawn else ''
]
if startcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(startcfg.masteruri)
if startcfg.prefix:
startcmd[len(startcmd):] = ['--prefix', startcfg.prefix]
if startcfg.loglevel:
startcmd.append('--loglevel')
startcmd.append(startcfg.loglevel)
# rename the absolute paths in the args of the node
node_args = []
error = ''
output = ''
try:
for a in startcfg.args:
a_value, is_abs_path, found, package = cls._bc_resolve_abs_paths(
a, on_hostname, auto_pw_request, user, pw)
node_args.append(a_value)
if is_abs_path:
abs_paths.append(('ARGS', a, a_value))
if not found and package:
not_found_packages.append(package)
startcmd[len(startcmd):] = node_args
startcmd[len(startcmd):] = args
rospy.loginfo("Run remote on %s: %s", on_hostname,
utf8(' '.join(startcmd)))
_, stdout, stderr, ok = nm.ssh().ssh_exec(on_hostname,
startcmd,
user,
pw,
auto_pw_request,
close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(
e, cls.bc_run_node, {
'name': name,
'grpc_path': grpc_path,
'masteruri': masteruri,
'reload_global_param': reload_global_param,
'loglevel': loglevel,
'logformat': logformat,
'auto_pw_request': auto_pw_request,
'user': user,
'pw': pw
})
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s",
startcfg.fullname, error)
raise StartException(
utf8(''.join(
['The host "', on_hostname, '" reports:\n',
error])))
if output:
rospy.logdebug("STDOUT while start '%s': %s",
startcfg.fullname, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
rospy.loginfo(
"Absolute paths found while start:\n%s",
utf8('\n'.join([
''.join([p, '\n OLD: ', ov, '\n NEW: ', nv])
for p, ov, nv in abs_paths
])))
if len(not_found_packages) > 0:
packages = '\n'.join(not_found_packages)
raise StartException(
utf8('\n'.join([
'Some absolute paths are not renamed because following packages are not found on remote host:',
packages
])))