def wait_for(node, namespace=None, timeout=None):
"""
Wait for ROS node up.
@param node: node name
@type node: str
"""
from rospy.names import canonicalize_name
node = canonicalize_name(node)
def is_node_up(node):
try:
node_up = any([node in upnode for upnode in
rosnode.get_node_names(namespace)])
return node_up
except Exception:
return False
if not is_node_up(node):
if timeout is not None:
timeout_t = time.time() + timeout
while not is_node_up(node):
time.sleep(0.1)
if time.time() >= timeout_t:
raise rospy.exceptions.ROSException("timeout exceeded while waiting for node %s" % node)
else:
while not is_node_up(node):
time.sleep(0.1)
def test_canonicalize_name(self):
from rospy.names import canonicalize_name
tests = [
('', ''),
('/', '/'),
('foo', 'foo'),
('/foo', '/foo'),
('/foo/', '/foo'),
('/foo/bar', '/foo/bar'),
('/foo/bar/', '/foo/bar'),
('/foo/bar//', '/foo/bar'),
('/foo//bar', '/foo/bar'),
('//foo/bar', '/foo/bar'),
('foo/bar', 'foo/bar'),
('foo//bar', 'foo/bar'),
('foo/bar/', 'foo/bar'),
('/foo/bar', '/foo/bar'),
]
for t, v in tests:
self.assertEquals(v, canonicalize_name(t))
def test_canonicalize_name(self):
from rospy.names import canonicalize_name
tests = [
('', ''),
('/', '/'),
('foo', 'foo'),
('/foo', '/foo'),
('/foo/', '/foo'),
('/foo/bar', '/foo/bar'),
('/foo/bar/', '/foo/bar'),
('/foo/bar//', '/foo/bar'),
('/foo//bar', '/foo/bar'),
('//foo/bar', '/foo/bar'),
('foo/bar', 'foo/bar'),
('foo//bar', 'foo/bar'),
('foo/bar/', 'foo/bar'),
('/foo/bar', '/foo/bar'),
]
for t, v in tests:
self.assertEquals(v, canonicalize_name(t))
def test_canonicalize_name(self):
from rospy.names import canonicalize_name
tests = [
("", ""),
("/", "/"),
("foo", "foo"),
("/foo", "/foo"),
("/foo/", "/foo"),
("/foo/bar", "/foo/bar"),
("/foo/bar/", "/foo/bar"),
("/foo/bar//", "/foo/bar"),
("/foo//bar", "/foo/bar"),
("//foo/bar", "/foo/bar"),
("foo/bar", "foo/bar"),
("foo//bar", "foo/bar"),
("foo/bar/", "foo/bar"),
("/foo/bar", "/foo/bar"),
]
for t, v in tests:
self.assertEquals(v, canonicalize_name(t))
