def reload(self):
'''
Loads the settings from file or sets default values if no one exists.
'''
self._terminal_emulator = None
self._terminal_command_arg = 'e'
self._masteruri = masteruri_from_ros()
self.CFG_PATH = os.path.join(get_ros_home(), 'node_manager')
# loads the current configuration path. If the path was changed, a redirection
# file exists with new configuration folder
if not os.path.isdir(self.CFG_PATH):
os.makedirs(self.CFG_PATH)
self._cfg_path = self.CFG_PATH
else:
settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE))
self._cfg_path = settings.value('cfg_path', self.CFG_PATH)
# after the settings path was loaded, load other settings
self._robots_path = self.ROBOTS_DIR
settings = self.qsettings(self.CFG_FILE)
self._default_user = settings.value('default_user', self.USER_DEFAULT)
settings.beginGroup('default_user_hosts')
self._default_user_hosts = dict()
for k in settings.childKeys():
self._default_user_hosts[k] = settings.value(k, self._default_user)
settings.endGroup()
try:
self._launch_history_length = int(settings.value('launch_history_length', self.LAUNCH_HISTORY_LENGTH))
except:
self._launch_history_length = self.LAUNCH_HISTORY_LENGTH
try:
self._param_history_length = int(settings.value('param_history_length', self.PARAM_HISTORY_LENGTH))
except:
self._param_history_length = self.PARAM_HISTORY_LENGTH
self._current_dialog_path = self.CURRENT_DIALOG_PATH
self._log_viewer = self.LOG_VIEWER
self._start_remote_script = self.STARTER_SCRIPT
self._respawn_script = self.RESPAWN_SCRIPT
self._launch_view_file_ext = self.str2list(settings.value('launch_view_file_ext', ', '.join(self.LAUNCH_VIEW_EXT)))
self._store_geometry = self.str2bool(settings.value('store_geometry', self.STORE_GEOMETRY))
self.SEARCH_IN_EXT = list(set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext))
self._autoupdate = self.str2bool(settings.value('autoupdate', self.AUTOUPDATE))
self._max_timediff = float(settings.value('max_timediff', self.MAX_TIMEDIFF))
self._rosconsole_cfg_file = 'rosconsole.config'
self.logging = LoggingConfig()
self.logging.loglevel = settings.value('logging/level', LoggingConfig.LOGLEVEL)
self.logging.loglevel_roscpp = settings.value('logging/level_roscpp', LoggingConfig.LOGLEVEL_ROSCPP)
self.logging.loglevel_superdebug = settings.value('logging/level_superdebug', LoggingConfig.LOGLEVEL_SUPERDEBUG)
self.logging.console_format = settings.value('logging/rosconsole_format', LoggingConfig.CONSOLE_FORMAT)
self._start_sync_with_discovery = self.str2bool(settings.value('start_sync_with_discovery', self.START_SYNC_WITH_DISCOVERY))
self._confirm_exit_when_closing = self.str2bool(settings.value('confirm_exit_when_closing', self.CONFIRM_EXIT_WHEN_CLOSING))
self._highlight_xml_blocks = self.str2bool(settings.value('highlight_xml_blocks', self.HIGHLIGHT_XML_BLOCKS))
self._colorize_hosts = self.str2bool(settings.value('colorize_hosts', self.COLORIZE_HOSTS))
self._transpose_pub_sub_descr = self.str2bool(settings.value('transpose_pub_sub_descr', self.TRANSPOSE_PUB_SUB_DESCR))
settings.beginGroup('host_colors')
self._host_colors = dict()
for k in settings.childKeys():
self._host_colors[k] = settings.value(k, None)
settings.endGroup()
self.init_hosts_color_list()
def reload(self):
'''
Loads the settings from file or sets default values if no one exists.
'''
self._terminal_emulator = None
self._terminal_command_arg = 'e'
self._masteruri = masteruri_from_ros()
self.CFG_PATH = os.path.join(get_ros_home(), 'node_manager')
# loads the current configuration path. If the path was changed, a redirection
# file exists with new configuration folder
if not os.path.isdir(self.CFG_PATH):
os.makedirs(self.CFG_PATH)
self._cfg_path = self.CFG_PATH
else:
settings = self.qsettings(
os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE))
self._cfg_path = settings.value('cfg_path', self.CFG_PATH)
# after the settings path was loaded, load other settings
self._robots_path = self.ROBOTS_DIR
settings = self.qsettings(self.CFG_FILE)
self._default_user = settings.value('default_user', self.USER_DEFAULT)
settings.beginGroup('default_user_hosts')
self._default_user_hosts = dict()
for k in settings.childKeys():
self._default_user_hosts[k] = settings.value(k, self._default_user)
settings.endGroup()
try:
self._launch_history_length = int(
settings.value('launch_history_length',
self.LAUNCH_HISTORY_LENGTH))
except:
self._launch_history_length = self.LAUNCH_HISTORY_LENGTH
try:
self._param_history_length = int(
settings.value('param_history_length',
self.PARAM_HISTORY_LENGTH))
except:
self._param_history_length = self.PARAM_HISTORY_LENGTH
self._current_dialog_path = self.CURRENT_DIALOG_PATH
self._log_viewer = self.LOG_VIEWER
self._start_remote_script = self.STARTER_SCRIPT
self._respawn_script = self.RESPAWN_SCRIPT
self._launch_view_file_ext = self.str2list(
settings.value('launch_view_file_ext',
', '.join(self.LAUNCH_VIEW_EXT)))
self._store_geometry = self.str2bool(
settings.value('store_geometry', self.STORE_GEOMETRY))
self._movable_dock_widgets = self.str2bool(
settings.value('movable_dock_widgets', self.MOVABLE_DOCK_WIDGETS))
self.SEARCH_IN_EXT = list(
set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext))
self._autoupdate = self.str2bool(
settings.value('autoupdate', self.AUTOUPDATE))
self._max_timediff = float(
settings.value('max_timediff', self.MAX_TIMEDIFF))
self._rosconsole_cfg_file = 'rosconsole.config'
self.logging = LoggingConfig()
self.logging.loglevel = settings.value('logging/level',
LoggingConfig.LOGLEVEL)
self.logging.loglevel_roscpp = settings.value(
'logging/level_roscpp', LoggingConfig.LOGLEVEL_ROSCPP)
self.logging.loglevel_superdebug = settings.value(
'logging/level_superdebug', LoggingConfig.LOGLEVEL_SUPERDEBUG)
self.logging.console_format = settings.value(
'logging/rosconsole_format', LoggingConfig.CONSOLE_FORMAT)
self._start_sync_with_discovery = self.str2bool(
settings.value('start_sync_with_discovery',
self.START_SYNC_WITH_DISCOVERY))
self._confirm_exit_when_closing = self.str2bool(
settings.value('confirm_exit_when_closing',
self.CONFIRM_EXIT_WHEN_CLOSING))
self._highlight_xml_blocks = self.str2bool(
settings.value('highlight_xml_blocks', self.HIGHLIGHT_XML_BLOCKS))
self._colorize_hosts = self.str2bool(
settings.value('colorize_hosts', self.COLORIZE_HOSTS))
self._check_for_nodelets_at_start = self.str2bool(
settings.value('check_for_nodelets_at_start',
self.CHECK_FOR_NODELETS_AT_START))
self._show_noscreen_error = self.str2bool(
settings.value('show_noscreen_error', self.SHOW_NOSCREEN_ERROR))
self._show_domain_suffix = self.str2bool(
settings.value('show_domain_suffix', self.SHOW_DOMAIN_SUFFIX))
self._transpose_pub_sub_descr = self.str2bool(
settings.value('transpose_pub_sub_descr',
self.TRANSPOSE_PUB_SUB_DESCR))
self._timeout_close_dialog = float(
settings.value('timeout_close_dialog', self.TIMEOUT_CLOSE_DIALOG))
settings.beginGroup('host_colors')
self._host_colors = dict()
for k in settings.childKeys():
self._host_colors[k] = settings.value(k, None)
settings.endGroup()
self.init_hosts_color_list()
self._launch_history = None # list with file names
def runNode(cls, runcfg):
'''
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: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
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)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(utf8(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(utf8(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (utf8(n.package), utf8(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
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.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', utf8(n.package),
'--node_type', utf8(n.type),
'--node_name', utf8(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
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", host, utf8(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(utf8(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, 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])))
def runNode(cls, runcfg):
'''
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: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
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" % (str(v)[:80], '...' if len(str(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" % (str(v)[:80], '...' if len(str(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)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(str(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(str(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (str(n.package), str(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
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.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', str(n.package),
'--node_type', str(n.type),
'--node_name', str(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
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", host, str(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(str(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
rospy.loginfo("Absolute paths found while start:\n%s", str('\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(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))
