def main(reactor, cred, masterIP, masterPort, consolePort,
extIP, extPort, commPort, pkgPath, customConverters):
log.startLogging(sys.stdout)
def _err(reason):
print(reason)
reactor.stop()
factory = PBClientFactory()
reactor.connectTCP(masterIP, masterPort, factory)
rosPath = []
for path in get_ros_paths() + [p for p, _ in pkgPath]:
if path not in rosPath:
rosPath.append(path)
loader = Loader(rosPath)
converter = Converter(loader)
for customConverter in customConverters:
# Get correct path/name of the converter
module, className = customConverter.rsplit('.', 1)
# Load the converter
mod = __import__(module, fromlist=[className])
converter.addCustomConverter(getattr(mod, className))
client = RobotClient(reactor, masterIP, consolePort, commPort, extIP,
extPort, loader, converter)
d = factory.login(cred, client)
d.addCallback(lambda ref: setattr(client, '_avatar', ref))
d.addErrback(_err)
# portal = Portal(client, (client,))
robot = CloudEngineWebSocketFactory(client,
'ws://localhost:{0}'.format(extPort))
listenWS(robot)
reactor.addSystemEventTrigger('before', 'shutdown', client.terminate)
reactor.run()
def main(reactor, cred, masterIP, masterPort, consolePort, extIP, extPort,
commPort, pkgPath, customConverters):
log.startLogging(sys.stdout)
def _err(reason):
print(reason)
reactor.stop()
factory = PBClientFactory()
reactor.connectTCP(masterIP, masterPort, factory)
rosPath = []
for path in get_ros_paths() + [p for p, _ in pkgPath]:
if path not in rosPath:
rosPath.append(path)
loader = Loader(rosPath)
converter = Converter(loader)
for customConverter in customConverters:
# Get correct path/name of the converter
module, className = customConverter.rsplit('.', 1)
# Load the converter
mod = __import__(module, fromlist=[className])
converter.addCustomConverter(getattr(mod, className))
client = RobotClient(reactor, masterIP, consolePort, commPort, extIP,
extPort, loader, converter)
d = factory.login(cred, client)
d.addCallback(lambda ref: setattr(client, '_avatar', ref))
d.addErrback(_err)
# portal = Portal(client, (client,))
robot = CloudEngineWebSocketFactory(client,
'ws://localhost:{0}'.format(extPort))
listenWS(robot)
reactor.addSystemEventTrigger('before', 'shutdown', client.terminate)
reactor.run()
File "C:\Python27\lib\site-packages\roslaunch\config.py", line 92, in load_roscore
f_roscore = get_roscore_filename()
File "C:\Python27\lib\site-packages\roslaunch\config.py", line 84, in get_roscore_filename
return os.path.join(r.get_path('roslaunch'), 'resources', 'roscore.xml')
File "C:\Python27\lib\site-packages\rospkg\rospack.py", line 200, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: roslaunch
ROS path [0]=c:\ros\root
The Python REPL process has exited
//cygwin
from rospkg import environment
environment.get_ros_paths()
['/opt/ros/install_isolated/share/ros', '/opt/ros/install_isolated/share', '/opt/ros/install_isolated/stacks']
from rospkg import config
from roslaunch import config
config.get_roscore_filename()
'/opt/ros/install_isolated/etc/ros/roscore.xml'
import rospkg
r=rospkg.RosPack()
r.get_path('roslaunch')
'/opt/ros/install_isolated/share/roslaunch'
local:
sourceNotFound: roslaunch
ROS path [0]=c:\ros\root
>>> import rospkg