def test_setup_env(self):
from roslaunch.core import setup_env, Node, Machine
master_uri = 'http://masteruri:1234'
n = Node('nodepkg', 'nodetype')
m = Machine('name1', '1.2.3.4')
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
m = Machine('name1', '1.2.3.4')
d = setup_env(n, m, master_uri)
val = os.environ['ROS_ROOT']
self.assertEquals(d['ROS_ROOT'], val)
# test ROS_NAMESPACE
# test stripping
n = Node('nodepkg', 'nodetype', namespace="/ns2/")
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns2")
# test node.env_args
n = Node('nodepkg',
'nodetype',
env_args=[('NENV1', 'val1'), ('NENV2', 'val2'),
('ROS_ROOT', '/new/root')])
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root")
self.assertEquals(d['NENV1'], "val1")
self.assertEquals(d['NENV2'], "val2")
def test_setup_env(self):
from roslaunch.core import setup_env, Node, Machine
master_uri = 'http://masteruri:1234'
n = Node('nodepkg','nodetype')
m = Machine('name1', '1.2.3.4')
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_MASTER_URI'], master_uri)
m = Machine('name1', '1.2.3.4')
d = setup_env(n, m, master_uri)
val = os.environ['ROS_ROOT']
self.assertEquals(d['ROS_ROOT'], val)
# test ROS_NAMESPACE
# test stripping
n = Node('nodepkg','nodetype', namespace="/ns2/")
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns2")
# test node.env_args
n = Node('nodepkg','nodetype', env_args=[('NENV1', 'val1'), ('NENV2', 'val2'), ('ROS_ROOT', '/new/root')])
d = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_ROOT'], "/new/root")
self.assertEquals(d['NENV1'], "val1")
self.assertEquals(d['NENV2'], "val2")
def create_local_process_env(node, machine, master_uri, env=os.environ):
"""
Setup environment for locally launched process. The local
environment includes the default os environment, with any
ROS-specific environment variables overriding this enviornment.
@return: environment variables
@rtype: dict
"""
# #1029: generate environment for the node. unset
# #ROS-related environment vars before
# update() so that extra environment variables don't end
# up in the call.
full_env = env.copy()
for evar in [
roslib.rosenv.ROS_MASTER_URI,
roslib.rosenv.ROS_ROOT,
roslib.rosenv.ROS_PACKAGE_PATH,
roslib.rosenv.ROS_IP,
'PYTHONPATH',
roslib.rosenv.ROS_NAMESPACE]:
if evar in full_env:
del full_env[evar]
proc_env = setup_env(node, machine, master_uri)
# #2372: add ROS_ROOT/bin to path if it is not present
rosroot_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin')
path = os.environ.get('PATH', '')
if not rosroot_bin in path.split(os.pathsep):
proc_env['PATH'] = path + os.pathsep + rosroot_bin
full_env.update(proc_env)
return full_env
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name),
resolve_anon=False)
node_name = script_resolve_name(
'roslaunch', node_name) if not node_name.startswith('$') else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + \
[n for n in config.tests if _resolved_name(n) == node_name]
if not node:
node_list = get_node_list(config)
node_list_str = '\n'.join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ', '.join(roslaunch_files), node_list_str))
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ', '.join(roslaunch_files)))
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.keys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.items()] + args
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name), resolve_anon=False)
node_name = script_resolve_name("roslaunch", node_name) if not node_name.startswith("$") else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + [
n for n in config.tests if _resolved_name(n) == node_name
]
if not node:
node_list = get_node_list(config)
node_list_str = "\n".join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ", ".join(roslaunch_files), node_list_str)
)
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ", ".join(roslaunch_files))
)
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.iterkeys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.iteritems()] + args
def _start_child(self, server_node_uri, machine, counter):
# generate a name for the machine. don't use config key as
# it's too long to easily display
name = "%s-%s"%(machine.address, counter)
self.logger.info("remote[%s] starting roslaunch", name)
print "remote[%s] starting roslaunch"%name
env_dict = setup_env(None, machine, self.rosconfig.master.uri)
p = SSHChildROSLaunchProcess(self.run_id, name, server_node_uri, env_dict, machine)
success = p.start()
self.pm.register(p)
if not success: #treat as fatal
raise RLException("unable to start remote roslaunch child: %s"%name)
self.server.add_child(name, p)
return p
def _start_child(self, server_node_uri, machine, counter):
# generate a name for the machine. don't use config key as
# it's too long to easily display
name = "%s-%s"%(machine.address, counter)
self.logger.info("remote[%s] starting roslaunch", name)
print "remote[%s] starting roslaunch"%name
env_dict = setup_env(None, machine, self.rosconfig.master.uri)
p = SSHChildROSLaunchProcess(self.run_id, name, server_node_uri, env_dict, machine)
success = p.start()
self.pm.register(p)
if not success: #treat as fatal
raise RLException("unable to start remote roslaunch child: %s"%name)
self.server.add_child(name, p)
return p
if __name__ == '__main__':
debug_node_name = None
debug_node_args = None
debug_launch_file = None
if len(sys.argv) != 3:
print 'usage: %s launch_file node_name' % sys.argv[0]
exit(1)
debug_launch_file = sys.argv[1]
debug_node_name = sys.argv[2]
env = None
args = None
error = None
debug_node = None
config = roslaunch.config.load_config_default([debug_launch_file], None)
for node in (config.nodes + config.tests):
fullname = rosgraph.names.ns_join(node.namespace, node.name)
if fullname == debug_node_name:
debug_node = node
if debug_node is None:
error = "Could not find a definition for %s" % debug_node_name
else:
env = setup_env(debug_node, debug_node.machine, os.environ[rosgraph.ROS_MASTER_URI])
args = create_local_process_args(debug_node, debug_node.machine)
print(json.dumps({ 'env': env, 'args': args, 'error': error }))
def test_setup_env(self):
from roslaunch.core import setup_env, Node, Machine
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 = setup_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]))
# 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 = setup_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 = setup_env(n, m, master_uri)
self.assertEquals(d['ROS_NAMESPACE'], "/ns1")
# test stripping
n = Node('nodepkg','nodetype', namespace="/ns2/")
d = setup_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 = setup_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 = setup_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 = setup_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 = setup_env(n, m, master_uri)
self.assertEquals(d['MENV1'], "nodeval1")
self.assertEquals(d['MENV2'], "val2")
