def test_make_caller_id(): from rosgraph.names import make_caller_id if 'ROS_NAMESPACE' is os.environ: rosns = os.environ['ROS_NAMESPACE'] del os.environ['ROS_NAMESPACE'] else: rosns = None for n in ['~name']: try: make_caller_id('~name') # illegal assert False, "make_caller_id should fail on %s" % n except ValueError: pass assert '/node/' == make_caller_id('node') assert '/bar/node/' == make_caller_id('bar/node') assert '/bar/node/' == make_caller_id('/bar/node') os.environ['ROS_NAMESPACE'] = '/test/' assert '/test/node/' == make_caller_id('node') assert '/test/bar/node/' == make_caller_id('bar/node') assert '/bar/node/' == make_caller_id('/bar/node') # restore if rosns: os.environ['ROS_NAMESPACE'] = rosns
def test_make_caller_id(): from rosgraph.names import make_caller_id if 'ROS_NAMESPACE' is os.environ: rosns = os.environ['ROS_NAMESPACE'] del os.environ['ROS_NAMESPACE'] else: rosns = None for n in ['~name']: try: make_caller_id('~name') # illegal assert False, "make_caller_id should fail on %s"%n except ValueError: pass assert '/node/' == make_caller_id('node') assert '/bar/node/' == make_caller_id('bar/node') assert '/bar/node/' == make_caller_id('/bar/node') os.environ['ROS_NAMESPACE'] = '/test/' assert '/test/node/' == make_caller_id('node') assert '/test/bar/node/' == make_caller_id('bar/node') assert '/bar/node/' == make_caller_id('/bar/node') # restore if rosns: os.environ['ROS_NAMESPACE'] = rosns
def start(self): self.__logger.info('##### start ' + self.__module_name) roslaunch.rlutil._wait_for_master() rosmaster = masterapi.Master( names.make_caller_id('rosparam-%s' % os.getpid())) while not rosmaster.hasParam('run_id'): time.sleep(1) while rosmaster.getParam('run_id') is '': time.sleep(1) time.sleep(10) self.send_msg_dispatcher(self.msg_id.mode_start_status, { 'index': setting.start_ros, 'status': True }) self.uuid = roslaunch.rlutil.get_or_generate_uuid(None, False) print('uuid' + self.uuid) self.launch_under_pan = roslaunch.parent.ROSLaunchParent( self.uuid, [self.launch_under_pan_path]) try: time.sleep(1) self.__logger.info('begin to start launch_under_pan!') self.launch_under_pan.start() self.__logger.info('launch_under_pan started!') time.sleep(5) self.send_msg_dispatcher(self.msg_id.mode_start_status, { 'index': setting.start_launch, 'status': True }) while True: # self.__logger.info('######### launch still alive') time.sleep(10) except roslaunch.RLException as e: print('I am except') self.__logger.fatal(str(e)) finally: print('I am finally') if self.launch_other is not None: self.launch_other.shutdown() if self.launch_running is not None: self.launch_running.shutdown() pass
def _get_caller_id(): """ :returns: caller ID for rosparam ROS client calls, ``str`` """ return make_caller_id('rosparam-%s' % os.getpid())
def _get_caller_id(): """ :returns: caller ID for rosparam ROS client calls, ``str`` """ return make_caller_id('rosparam-%s'%os.getpid())