def runNode(self, node, autostart=False):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
if not self.parameter_loaded:
self.loadParams()
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (
(item.namespace.strip('/') == namespace) or not namespace):
n = item
break
if n is None:
raise StartException("Node '%s' not found!" % node)
if autostart and self._get_start_exclude(
rospy.names.ns_join(n.namespace, n.name)):
# skip autostart
rospy.loginfo("%s is in exclude list, skip autostart", n.name)
return
# env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = ['__ns:=%s' % n.namespace, '__name:=%s' % n.name]
if not (n.cwd is None):
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append('%s:=%s' % (remap[0], remap[1]))
# masteruri = self.masteruri
# if n.machine_name and not n.machine_name == 'localhost':
# machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# nm.screen().testScreen()
cmd = self._get_node(n.package, n.type)
# determine the current working path, Default: the package of the node
cwd = self.get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = self.get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd[0])
respawn = ['']
if n.respawn:
respawn = self._get_node('node_manager_fkie', 'respawn')
# set the respawn environment variables
respawn_params = self._get_respawn_params(
rospy.names.ns_join(n.namespace, n.name))
if respawn_params['max'] > 0:
n.env_args.append(
('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
n.env_args.append(('RESPAWN_MIN_RUNTIME',
'%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
n.env_args.append(
('RESPAWN_DELAY', '%d' % respawn_params['delay']))
node_cmd = [respawn[0], prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
# remove the 'BASH_ENV' and 'ENV' from environment
new_env = dict(os.environ)
try:
for k in ['BASH_ENV', 'ENV']:
del new_env[k]
except:
pass
# add node environment parameter
for k, v in n.env_args:
new_env[k] = v
# set delayed autostart parameter
self._run_node(popen_cmd, cwd, new_env,
rospy.names.ns_join(n.namespace, n.name), autostart)
if len(cmd) > 1:
raise StartException(
'Multiple executables are found! The first one was started! Exceutables:\n%s'
% str(cmd))
def runNode(self, node):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (item.namespace.strip('/')
== namespace):
n = item
break
if n is None:
raise StartException(''.join(["Node '", node, "' not found!"]))
env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = [
''.join(['__ns:=', n.namespace]), ''.join(['__name:=', n.name])
]
if not (n.cwd is None):
args.append(''.join(['__cwd:=', n.cwd]))
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
masteruri = self.masteruri
if n.machine_name:
machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# set the global parameter
if not self.global_parameter_setted:
global_node_names = self.getGlobalParams(self.roscfg)
self._load_parameters(masteruri, global_node_names, [])
self.global_parameter_setted = True
# add params
nodens = ''.join([n.namespace, n.name, '/'])
params = dict()
for param, value in self.roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in self.roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(param)
rospy.loginfo("register PARAMS:\n%s", '\n'.join(params))
self._load_parameters(masteruri, params, clear_params)
# nm.screen().testScreen()
try:
cmd = roslib.packages.find_node(n.package, n.type)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(str(e))
# handle diferent result types str or array of string
import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise StartException(' '.join(
[n.type, 'in package [', n.package, '] not found!']))
node_cmd = [prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
subprocess.Popen(popen_cmd)
def runNode(self, node):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (item.namespace.strip('/') == namespace):
n = item
break
if n is None:
raise StartException(''.join(["Node '", node, "' not found!"]))
# env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = [''.join(['__ns:=', n.namespace]), ''.join(['__name:=', n.name])]
if not (n.cwd is None):
args.append(''.join(['__cwd:=', n.cwd]))
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# masteruri = self.masteruri
# if n.machine_name and not n.machine_name == 'localhost':
# machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# nm.screen().testScreen()
cmd = self._get_node(n.package, n.type)
# determine the current working path, Default: the package of the node
cwd = self.get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = self.get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd[0])
respawn = ['']
if n.respawn:
respawn = self._get_node('node_manager_fkie', 'respawn')
node_cmd = [respawn[0], prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
# remove the 'BASH_ENV' and 'ENV' from environment
new_env = dict(os.environ)
try:
for k in ['BASH_ENV', 'ENV']:
del new_env[k]
except:
pass
# add node environment parameter
for k, v in n.env_args:
new_env[k] = v
ps = subprocess.Popen(popen_cmd, cwd=cwd, env=new_env)
# wait for process to avoid 'defunct' processes
thread = threading.Thread(target=ps.wait)
thread.setDaemon(True)
thread.start()
# subprocess.Popen(popen_cmd, cwd=cwd)
if len(cmd) > 1:
raise StartException('Multiple executables are found! The first one was started! Exceutables:\n' + str(cmd))
def runNode(self, node):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (item.namespace.strip('/')
== namespace):
n = item
break
if n is None:
raise StartException(''.join(["Node '", node, "' not found!"]))
env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = [
''.join(['__ns:=', n.namespace]), ''.join(['__name:=', n.name])
]
if not (n.cwd is None):
args.append(''.join(['__cwd:=', n.cwd]))
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
masteruri = self.masteruri
if n.machine_name and not n.machine_name == 'localhost':
machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# nm.screen().testScreen()
try:
cmd = roslib.packages.find_node(n.package, n.type)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(str(e))
# handle diferent result types str or array of string
import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise StartException(' '.join(
[n.type, 'in package [', n.package, '] not found!']))
# determine the current working path, Default: the package of the node
cwd = self.get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = self.get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd[0])
node_cmd = [
'rosrun node_manager_fkie respawn' if n.respawn else '', prefix,
cmd[0]
]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
subprocess.Popen(popen_cmd, cwd=cwd)
def runNode(self, node):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (item.namespace.strip('/') == namespace):
n = item
break
if n is None:
raise StartException(''.join(["Node '", node, "' not found!"]))
env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = [''.join(['__ns:=', n.namespace]), ''.join(['__name:=', n.name])]
if not (n.cwd is None):
args.append(''.join(['__cwd:=', n.cwd]))
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
masteruri = self.masteruri
if n.machine_name:
machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# set the global parameter
if not self.global_parameter_setted:
global_node_names = self.getGlobalParams(self.roscfg)
self._load_parameters(masteruri, global_node_names, [])
self.global_parameter_setted = True
# add params
nodens = ''.join([n.namespace, n.name, '/'])
params = dict()
for param, value in self.roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in self.roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(param)
rospy.loginfo("register PARAMS:\n%s", '\n'.join(params))
self._load_parameters(masteruri, params, clear_params)
# nm.screen().testScreen()
try:
cmd = roslib.packages.find_node(n.package, n.type)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(str(e))
# handle diferent result types str or array of string
import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise StartException(' '.join([n.type, 'in package [', n.package, '] not found!']))
node_cmd = [prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
subprocess.Popen(popen_cmd)
def runNode(self, node, autostart=False):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and ((item.namespace.strip('/') == namespace) or not namespace):
n = item
break
if n is None:
raise StartException("Node '%s' not found!"%node)
if autostart and self._get_start_exclude(rospy.names.ns_join(n.namespace, n.name)):
# skip autostart
rospy.loginfo("%s is in exclude list, skip autostart", n.name)
return
# env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = ['__ns:=%s'%n.namespace, '__name:=%s'%n.name]
if not (n.cwd is None):
args.append('__cwd:=%s'%n.cwd)
# add remaps
for remap in n.remap_args:
args.append('%s:=%s'%(remap[0], remap[1]))
# masteruri = self.masteruri
# if n.machine_name and not n.machine_name == 'localhost':
# machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# nm.screen().testScreen()
cmd = self._get_node(n.package, n.type)
# determine the current working path, Default: the package of the node
cwd = self.get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = self.get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd[0])
respawn = ['']
if n.respawn:
respawn = self._get_node('node_manager_fkie', 'respawn')
# set the respawn environment variables
respawn_params = self._get_respawn_params(rospy.names.ns_join(n.namespace, n.name))
if respawn_params['max'] > 0:
n.env_args.append(('RESPAWN_MAX', '%d'%respawn_params['max']))
if respawn_params['min_runtime'] > 0:
n.env_args.append(('RESPAWN_MIN_RUNTIME', '%d'%respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
n.env_args.append(('RESPAWN_DELAY', '%d'%respawn_params['delay']))
node_cmd = [respawn[0], prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
# remove the 'BASH_ENV' and 'ENV' from environment
new_env = dict(os.environ)
try:
for k in ['BASH_ENV', 'ENV']:
del new_env[k]
except:
pass
# add node environment parameter
for k, v in n.env_args:
new_env[k] = v
# set delayed autostart parameter
self._run_node(popen_cmd, cwd, new_env, rospy.names.ns_join(n.namespace, n.name), autostart)
if len(cmd) > 1:
raise StartException('Multiple executables are found! The first one was started! Exceutables:\n%s'%str(cmd))
def runNode(self, node):
'''
Start the node with given name from the currently loaded configuration.
@param node: the name of the node
@type node: C{str}
@raise StartException: if an error occurred while start.
'''
n = None
nodename = os.path.basename(node)
namespace = os.path.dirname(node).strip('/')
for item in self.roscfg.nodes:
if (item.name == nodename) and (item.namespace.strip('/') == namespace):
n = item
break
if n is None:
raise StartException(''.join(["Node '", node, "' not found!"]))
env = n.env_args
prefix = n.launch_prefix if not n.launch_prefix is None else ''
args = [''.join(['__ns:=', n.namespace]), ''.join(['__name:=', n.name])]
if not (n.cwd is None):
args.append(''.join(['__cwd:=', n.cwd]))
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
masteruri = self.masteruri
if n.machine_name and not n.machine_name == 'localhost':
machine = self.roscfg.machines[n.machine_name]
#TODO: env-loader support?
# if machine.env_args:
# env[len(env):] = machine.env_args
# nm.screen().testScreen()
try:
cmd = roslib.packages.find_node(n.package, n.type)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(str(e))
# handle diferent result types str or array of string
import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise StartException(' '.join([n.type, 'in package [', n.package, '] not found!']))
# determine the current working path, Default: the package of the node
cwd = self.get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = self.get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd[0])
node_cmd = ['rosrun node_manager_fkie respawn' if n.respawn else '', prefix, cmd[0]]
cmd_args = [ScreenHandler.getSceenCmd(node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(n.args)
cmd_args[len(cmd_args):] = args
# print 'runNode: ', cmd_args
popen_cmd = shlex.split(str(' '.join(cmd_args)))
rospy.loginfo("run node '%s as': %s", node, str(' '.join(popen_cmd)))
subprocess.Popen(popen_cmd, cwd=cwd)
