def test_launch_with_coroutine():
default_launcher = DefaultLauncher()
launch_file = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'launch_counter.py')
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, {})
@asyncio.coroutine
def coroutine():
yield from asyncio.sleep(1)
print('one', file=sys.stderr)
yield from asyncio.sleep(1)
print('two', file=sys.stderr)
yield from asyncio.sleep(1)
print('three', file=sys.stderr)
@asyncio.coroutine
def coroutine2():
yield from asyncio.sleep(1)
print('one mississippi', file=sys.stderr)
yield from asyncio.sleep(1)
print('two mississippi', file=sys.stderr)
yield from asyncio.sleep(1)
print('three mississippi', file=sys.stderr)
launch_descriptor.add_coroutine(
coroutine(), name='coroutine', exit_handler=primary_exit_handler)
# launch_descriptor.add_coroutine(coroutine2())
print('launch', file=sys.stderr)
default_launcher.add_launch_descriptor(launch_descriptor)
rc = default_launcher.launch()
print('done', rc, file=sys.stderr)
def test_interrupt_default_launcher():
desc = LaunchDescriptor()
desc.add_process(
cmd=[sys.executable, '-c', 'import time', 'time.sleep(30)'],
name='test_interrupt_default_launcher__python_blocking'
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(desc)
def thread_target():
# wait up to 10 seconds to get to the point where at least all of the
# asyncio-subprocess coroutines have been run (the processes are still
# not guaranteed to be running yet)
launcher.wait_on_processes_to_spawn(10)
if not launcher.are_processes_spawned():
# if the processes didn't launch after 10 seconds, fail the test
_thread.interrupt_main()
assert False, 'launcher never reported processes launched'
launcher.interrupt_launch()
# now wait for the launcher to finish and error if if doesn't
launcher.wait_on_launch_to_finish(60)
if launcher.is_launch_running():
# if still running fail the test
_thread.interrupt_main()
assert False, 'launcher failed to shutdown'
t = threading.Thread(target=thread_target)
t.start()
try:
launcher.launch()
except KeyboardInterrupt:
assert False, 'failed by watchdog thread, see other AssertionErrors'
t.join()
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package,
executable_name='data_publisher')
# Strip the logger name from the message format in favor of the shorter executable name
os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '[{severity}] {message}'
os.environ[
'PYTHONUNBUFFERED'] = '1' # force unbuffered output to get prints to sync correctly
launch_descriptor.add_process(
cmd=[executable, 'sensor', '--best-effort'],
name='sensor',
)
launch_descriptor.add_process(
cmd=[executable, 'critical'],
name='critical',
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package, executable_name='data_publisher')
os.environ['PYTHONUNBUFFERED'] = '1' # force unbuffered output to get prints to sync correctly
name = 'small'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '1', '--period', '4'],
name=name,
)
name = 'medium'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '50000', '--period', '4'],
name=name,
)
name = 'large'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '100000', '--period', '4'],
name=name,
)
name = 'xlarge'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '150000', '--period', '4'],
name=name,
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def test_logging_long_messages():
launch_descriptor = LaunchDescriptor()
output_file = os.path.join(os.path.dirname(__file__), 'test_logging_long_messages')
handler = create_handler(
'test_logging_long_messages', launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
# Set the output format to a "verbose" format that is expected by the executable output
os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \
'[{severity}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
executable = os.path.join(os.getcwd(), 'test_logging_long_messages')
if os.name == 'nt':
executable += '.exe'
launch_descriptor.add_process(
cmd=[executable],
name='test_logging_long_messages',
exit_handler=ignore_exit_handler, # The process will automatically exit after printing.
output_handlers=[ConsoleOutput(), handler],
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'"
handler.check()
def test_logging_long_messages():
launch_descriptor = LaunchDescriptor()
output_file = os.path.join(os.path.dirname(__file__),
'test_logging_long_messages')
filtered = get_default_filtered_prefixes()
handler = create_handler('test_logging_long_messages',
launch_descriptor,
output_file,
filtered_prefixes=filtered)
assert handler, 'Cannot find appropriate handler for %s' % output_file
executable = os.path.join(os.getcwd(), 'test_logging_long_messages')
if os.name == 'nt':
executable += '.exe'
launch_descriptor.add_process(
cmd=[executable],
name='test_logging_long_messages',
exit_handler=default_exit_handler,
output_handlers=[ConsoleOutput(), handler],
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'"
handler.check()
def test_launch_with_coroutine():
default_launcher = DefaultLauncher()
launch_file = os.path.join(os.path.abspath(os.path.dirname(__file__)),
'launch_counter.py')
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, {})
async def coroutine():
await asyncio.sleep(1)
print('one', file=sys.stderr)
await asyncio.sleep(1)
print('two', file=sys.stderr)
await asyncio.sleep(1)
print('three', file=sys.stderr)
async def coroutine2():
await asyncio.sleep(1)
print('one mississippi', file=sys.stderr)
await asyncio.sleep(1)
print('two mississippi', file=sys.stderr)
await asyncio.sleep(1)
print('three mississippi', file=sys.stderr)
launch_descriptor.add_coroutine(coroutine(),
name='coroutine',
exit_handler=primary_exit_handler)
# launch_descriptor.add_coroutine(coroutine2())
print('launch', file=sys.stderr)
default_launcher.add_launch_descriptor(launch_descriptor)
rc = default_launcher.launch()
print('done', rc, file=sys.stderr)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
executable = 'topic_monitor_data_publisher'
name = 'small'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '1', '--period', '4'],
name=name,
)
name = 'medium'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '50000', '--period', '4'],
name=name,
)
name = 'large'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '100000', '--period', '4'],
name=name,
)
name = 'xlarge'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '150000', '--period', '4'],
name=name,
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def test_non_primary_return_code():
# since Python < 3.5 on Windows does not support signaling SIGINT to the subprocesses
# we can't expect them to shutdown cleanly, therefore we ignore this test
if os.name == 'nt':
return
default_launcher = DefaultLauncher()
async def coroutine1():
await asyncio.sleep(1)
print('one', file=sys.stderr)
await asyncio.sleep(1)
print('two', file=sys.stderr)
return 3
async def coroutine2():
await asyncio.sleep(1)
print('one mississippi', file=sys.stderr)
return 0
launch_descriptor = LaunchDescriptor()
launch_descriptor.add_coroutine(coroutine1(), name='coroutine1')
launch_descriptor.add_coroutine(
coroutine2(), name='coroutine2', exit_handler=primary_exit_handler)
print('launch', file=sys.stderr)
default_launcher.add_launch_descriptor(launch_descriptor)
rc = default_launcher.launch()
print('done', rc, file=sys.stderr)
assert rc == 3, 'Expected return code is 3'
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package,
executable_name='data_publisher')
name = 'small'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '1', '--period', '4'],
name=name,
)
name = 'medium'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '50000', '--period', '4'],
name=name,
)
name = 'large'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '100000', '--period', '4'],
name=name,
)
name = 'xlarge'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '150000', '--period', '4'],
name=name,
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def setup():
global async_launcher
default_launcher = DefaultLauncher()
launch_file = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'launch_counter.py')
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, {})
default_launcher.add_launch_descriptor(launch_descriptor)
async_launcher = AsynchronousLauncher(default_launcher)
async_launcher.start()
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
add_process_to_descriptor(launch_descriptor, 'small', 1)
add_process_to_descriptor(launch_descriptor, 'small', 50)
add_process_to_descriptor(launch_descriptor, 'large', 1)
add_process_to_descriptor(launch_descriptor, 'large', 50)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
add_process_to_descriptor(launch_descriptor, 'small', 1)
add_process_to_descriptor(launch_descriptor, 'small', 50)
add_process_to_descriptor(launch_descriptor, 'large', 1)
add_process_to_descriptor(launch_descriptor, 'large', 50)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def launch(index):
default_launcher = DefaultLauncher()
async def coroutine():
await asyncio.sleep(1)
print('message %d' % index, file=sys.stderr)
launch_descriptor = LaunchDescriptor()
launch_descriptor.add_coroutine(coroutine(), name='coroutine%d' % index)
print('launch %d' % index, file=sys.stderr)
default_launcher.add_launch_descriptor(launch_descriptor)
rc = default_launcher.launch()
print('done %d' % index, rc, file=sys.stderr)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
os.environ[
'PYTHONUNBUFFERED'] = '1' # force unbuffered output to get prints to sync correctly
add_process_to_descriptor(launch_descriptor, 'small', 1)
add_process_to_descriptor(launch_descriptor, 'small', 50)
add_process_to_descriptor(launch_descriptor, 'large', 1)
add_process_to_descriptor(launch_descriptor, 'large', 50)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Launch the processes specified in a launch file.')
parser.add_argument('launch_file',
type=file_exists,
nargs='+',
help='The launch file.')
args = parser.parse_args(argv)
arguments = {}
launcher = DefaultLauncher()
for launch_file in args.launch_file:
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, arguments)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
return rc
def launch():
ld = LaunchDescriptor()
ld.add_process(cmd=['dummy_laser'], )
ld.add_process(cmd=['dummy_map_server'], )
ld.add_process(cmd=[
'robot_state_publisher',
os.path.join(file_path, 'single_rrbot.urdf')
])
ld.add_process(cmd=['dummy_joint_states'])
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
executable = 'topic_monitor_data_publisher'
launch_descriptor.add_process(
cmd=[executable, 'sensor', '--best-effort'],
name='sensor',
)
launch_descriptor.add_process(
cmd=[executable, 'critical'],
name='critical',
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Launch the processes specified in a launch file.')
parser.add_argument(
'launch_file',
type=file_exists,
nargs='+',
help='The launch file.')
args = parser.parse_args(argv)
arguments = {}
launcher = DefaultLauncher()
for launch_file in args.launch_file:
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, arguments)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
return rc
def lifecycle_demo():
ld = LaunchDescriptor()
ld.add_process(
cmd=['lifecycle_talker'],
)
ld.add_process(
cmd=['lifecycle_listener'],
)
ld.add_process(
cmd=['lifecycle_service_client'],
exit_handler=primary_exit_handler,
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "
def test_interrupt_default_launcher():
desc = LaunchDescriptor()
desc.add_process(
cmd=[sys.executable, '-c', 'import time', 'time.sleep(30)'],
name='test_interrupt_default_launcher__python_blocking')
launcher = DefaultLauncher()
launcher.add_launch_descriptor(desc)
def thread_target():
# wait up to 10 seconds to get to the point where at least all of the
# asyncio-subprocess coroutines have been run (the processes are still
# not guaranteed to be running yet)
launcher.wait_on_processes_to_spawn(10)
if not launcher.are_processes_spawned():
# if the processes didn't launch after 10 seconds, fail the test
_thread.interrupt_main()
assert False, 'launcher never reported processes launched'
launcher.interrupt_launch()
# now wait for the launcher to finish and error if if doesn't
launcher.wait_on_launch_to_finish(60)
if launcher.is_launch_running():
# if still running fail the test
_thread.interrupt_main()
assert False, 'launcher failed to shutdown'
t = threading.Thread(target=thread_target)
t.start()
try:
launcher.launch()
except KeyboardInterrupt:
assert False, 'failed by watchdog thread, see other AssertionErrors'
t.join()
def test_interrupt_asynchronous_launcher():
desc = LaunchDescriptor()
desc.add_process(
cmd=[sys.executable, '-c', 'import time', 'time.sleep(30)'],
name='test_interrupt_asynchronous_launcher__python_blocking'
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(desc)
async_launcher = AsynchronousLauncher(launcher)
async_launcher.start()
# wait up to 10 seconds to get to the point where at least all of the
# asyncio-subprocess coroutines have been run (the processes are still
# not guaranteed to be running yet)
launcher.wait_on_processes_to_spawn(10)
if not launcher.are_processes_spawned():
# if the processes didn't launch after 10 seconds, fail the test
assert False, 'launcher never reported processes launched'
async_launcher.terminate()
# now wait for the launcher to finish and error if if doesn't
async_launcher.join(60)
if async_launcher.is_alive():
# if still running fail the test
assert False, 'async launcher failed to shutdown'
def test_matching():
output_handlers = []
launch_descriptor = LaunchDescriptor()
# This temporary directory and files contained in it will be deleted when the process ends.
tempdir = tempfile.mkdtemp()
output_file = tempdir + os.sep + 'testfile'
full_output_file = output_file + '.regex'
with open(full_output_file, 'w+') as f:
f.write('this is line \d\nthis is line [a-z]')
name = 'test_executable_0'
handler = create_handler(name, launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
output_handlers.append(handler)
executable_command = [
sys.executable,
os.path.join(os.path.abspath(os.path.dirname(__file__)), 'matching.py')
]
launch_descriptor.add_process(cmd=executable_command,
name=name,
exit_handler=ignore_exit_handler,
output_handlers=output_handlers)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'. "
for handler in output_handlers:
handler.check()
def test_matching():
output_handlers = []
launch_descriptor = LaunchDescriptor()
# This temporary directory and files contained in it will be deleted when the process ends.
tempdir = tempfile.mkdtemp()
output_file = tempdir + os.sep + "testfile"
full_output_file = output_file + ".regex"
with open(full_output_file, 'w+') as f:
f.write('this is line \d\nthis is line [a-z]')
name = "test_executable_0"
handler = create_handler(name, launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
output_handlers.append(handler)
executable_command = [
sys.executable,
os.path.join(os.path.abspath(os.path.dirname(__file__)), 'matching.py')]
launch_descriptor.add_process(
cmd=executable_command,
name=name,
exit_handler=ignore_exit_handler,
output_handlers=output_handlers)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'. "
for handler in output_handlers:
handler.check()
def test_talker_listener():
launch_desc = LaunchDescriptor()
launch_desc.add_process(
cmd=[sys.executable, os.path.join(this_dir, 'talker.py')],
name='test_talker_listener__talker'
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_desc)
async_launcher = AsynchronousLauncher(launcher)
async_launcher.start()
import rclpy
rclpy.init([])
from rclpy.qos import qos_profile_default
from std_msgs.msg import String
assert String.__class__._TYPE_SUPPORT is not None
node = rclpy.create_node('listener')
received_messages = []
chatter_callback = functools.partial(
listener_callback, received_messages=received_messages)
# TODO(wjwwood): should the subscription object hang around?
node.create_subscription(String, 'chatter', chatter_callback, qos_profile_default)
spin_count = 0
while len(received_messages) == 0 and spin_count < 10 and launcher.is_launch_running():
rclpy.spin_once(node) # This will wait 1 second or until something has been done.
spin_count += 1
async_launcher.terminate()
async_launcher.join()
assert len(received_messages) > 0, "Should have received a message from talker"
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Launch the processes specified in a launch file.')
parser.add_argument('launch_file',
type=file_exists,
nargs='+',
help='The launch file.')
parser.add_argument(
'--args',
metavar='arg',
type=str,
nargs='+',
help='An argument to the launch file (e.g., arg_name:=value). All '
'arguments will be passed to each launch file.')
args = parser.parse_args(argv)
launcher = DefaultLauncher()
for launch_file in args.launch_file:
launch_descriptor = LaunchDescriptor()
load_launch_file(launch_file, launch_descriptor, args.args)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
return rc
def test_env():
ld = LaunchDescriptor()
sub_env = copy.deepcopy(os.environ)
sub_env['testenv1'] = 'testval1'
os.environ['testenv2'] = 'testval2'
ld.add_process(
cmd=[
sys.executable,
os.path.join(
os.path.abspath(
os.path.dirname(__file__)),
'check_env.py')],
name='test_env',
env=sub_env,
exit_handler=primary_exit_handler,
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'. "
def test_env():
ld = LaunchDescriptor()
sub_env = copy.deepcopy(os.environ)
sub_env['testenv1'] = 'testval1'
os.environ['testenv2'] = 'testval2'
ld.add_process(
cmd=[
sys.executable,
os.path.join(
os.path.abspath(
os.path.dirname(__file__)),
'check_env.py')],
name='test_env',
env=sub_env,
exit_handler=primary_exit_handler,
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'. "
def launch():
parser = argparse.ArgumentParser()
parser.add_argument("-t",
"--linemod_templates",
help="Path to a .yml file"
"containing the LINEMOD templates for the objects to "
"be detected. These could be generated with virtual "
"kinect (real) training methods. The file must "
"contain sequential class IDs and mesh paths for "
"each class to allow the pipeline to execute "
"correctly. ",
type=str)
parser.add_argument("-c",
"--calibration_file",
help="Path to a YAML "
"calibration file definining the transform from the "
"world frame to the camera frame used to collect "
"vision data. Please see launch/osrf_calib.yaml for "
"an example.",
type=str)
parser.add_argument("-p",
"--push-pasta",
help="Push pasta boxes off of "
"the table.",
type=bool)
parser.add_argument("-r",
"--push-ramen",
help="Push ramen containers off "
"of the table.",
type=bool)
args = parser.parse_args()
if args.linemod_templates:
linemod_templates = args.linemod_templates
else:
linemod_templates = (get_package_share_directory("picky_robot") +
os.sep + 'linemod/cupnoodles_penne.yml')
if args.calibration_file:
calibration_file = args.calibration_file
else:
calibration_file = (get_package_share_directory("picky_robot") +
os.sep + "launch" + os.sep + "osrf_calib.yaml")
if args.push_pasta:
push_pasta = args.push_pasta
else:
push_pasta = False
if args.push_ramen:
push_ramen = args.push_ramen
else:
push_ramen = False
if not push_pasta and not push_ramen:
push_ramen = True
push_pasta = True
if push_pasta and push_ramen:
push_flag = ""
elif push_pasta:
push_flag = "pasta"
else:
push_flag = "ramen"
# parse a YAML file to get the calibration
with open(calibration_file, 'r') as f:
doc = yaml.load(f)
x_offset = doc["x"]
y_offset = doc["y"]
z_offset = doc["z"]
yaw_offset = doc["yaw"]
pitch_offset = doc["pitch"]
roll_offset = doc["roll"]
parent_frame = doc["parent_frame"]
child_frame = doc["child_frame"]
ld = LaunchDescriptor()
ld.add_process(cmd=[
get_executable_path(package_name='robot_state_publisher',
executable_name='robot_state_publisher'),
(get_package_share_directory("picky_robot") + os.sep + "launch" +
os.sep + "ur5.urdf")
])
ld.add_process(cmd=[
get_executable_path(package_name='tf2_ros',
executable_name='static_transform_publisher'),
str(doc["x"]),
str(doc["y"]),
str(doc["z"]),
str(doc["yaw"]),
str(doc["pitch"]),
str(doc["roll"]),
str(doc["parent_frame"]),
str(doc["child_frame"])
])
ld.add_process(cmd=[
get_executable_path(package_name='depth_to_pointcloud',
executable_name='depth_to_pointcloud_node')
])
ld.add_process(cmd=[
get_executable_path(package_name='picky_robot',
executable_name='linemod_pipeline'),
linemod_templates, 'b', 'b'
])
ld.add_process(cmd=[
get_executable_path(package_name='picky_robot',
executable_name='picky_robot.py'), push_flag
])
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
print("launching...")
rc = launcher.launch()
assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "
def main(argv=sys.argv[1:]):
launcher = DefaultLauncher()
launch_descriptor = launch(LaunchDescriptor(), argv)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
return rc
def test_logging_output_format():
launch_descriptor = LaunchDescriptor()
# Re-use the test_logging_long_messages test binary and modify the output format from an
# environment variable.
executable = os.path.join(os.getcwd(), 'test_logging_long_messages')
if os.name == 'nt':
executable += '.exe'
env_long = dict(os.environ)
# In this custom output, the long message is output twice, to test both dynamic allocation and
# re-allocation.
env_long['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \
'[{{name}}].({severity}) output: {file_name}:{line_number} {message}, again: {message} ({function_name}()){' # noqa
name = 'test_logging_output_format_long'
output_file = os.path.join(os.path.dirname(__file__), name)
handler = create_handler(name, launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
launch_descriptor.add_process(
cmd=[executable],
env=env_long,
name=name,
exit_handler=ignore_exit_handler,
output_handlers=[ConsoleOutput(), handler],
)
env_edge_cases = dict(os.environ)
# This custom output is to check different edge cases of the output format string parsing.
env_edge_cases[
'RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{}}].({unknown_token}) {{{{'
name = 'test_logging_output_format_edge_cases'
output_file = os.path.join(os.path.dirname(__file__), name)
handler = create_handler(name, launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
launch_descriptor.add_process(
cmd=[executable],
env=env_edge_cases,
name=name,
exit_handler=ignore_exit_handler,
output_handlers=[ConsoleOutput(), handler],
)
env_no_tokens = dict(os.environ)
# This custom output is to check that there are no issues when no tokens are used.
env_no_tokens['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = 'no_tokens'
name = 'test_logging_output_format_no_tokens'
output_file = os.path.join(os.path.dirname(__file__), name)
handler = create_handler(name, launch_descriptor, output_file)
assert handler, 'Cannot find appropriate handler for %s' % output_file
launch_descriptor.add_process(
cmd=[executable],
env=env_no_tokens,
name=name,
exit_handler=ignore_exit_handler,
output_handlers=[ConsoleOutput(), handler],
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
assert rc == 0, \
"The launch file failed with exit code '" + str(rc) + "'"
handler.check()
def main(argv=sys.argv[1:]):
launcher = DefaultLauncher()
launch_descriptor = launch(LaunchDescriptor(), argv)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
return rc