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())
