def start_master(use_sim_time=True):
_logger.info('Launching ROS master')
ros_proc = utils.new_process(['roscore'], output_to_console=False)
time.sleep(2)
if use_sim_time:
param_set_proc = utils.new_process(
['rosparam', 'set', 'use_sim_time', 'true'])
param_set_proc.communicate()
return ros_proc
def start_recording_bag(bag_path, topics=None):
_logger.info('Starting bag recording')
if topics is None:
topics = ['-a']
record_proc = utils.new_process(['rosbag', 'record'] + topics +
['-O', bag_path])
return record_proc
def run_node(package, node, namespace=None, argc=None, argv=None):
if namespace is not None:
command = [
'export',
'ROS_NAMESPACE=%s' % namespace, '&&', 'rosrun', package, node
]
else:
command = ['rosrun', package, node]
if argc is not None:
command += argc
elif argv is not None:
command += ['%s:=%s' % (arg, value) for arg, value in argv.items()]
node_proc = utils.new_process(command)
return node_proc
def launch(**kwargs):
if kwargs.has_key('direct_path'):
command = ['roslaunch', kwargs.get('direct_path')]
else:
command = [
'roslaunch',
kwargs.get('package'),
kwargs.get('launch_file')
]
if kwargs.has_key('argv'):
command += [
'%s:=%s' % (arg, value)
for arg, value in kwargs.get('argv').items()
]
launch_proc = utils.new_process(command)
return launch_proc
def play_bag(bag_path, use_clock=True, start_time=0):
_logger.info('Starting bag playing')
if type(bag_path) == tuple:
bags = [rosbag.Bag(single_bag_path) for single_bag_path in bag_path]
duration_in_seconds = sum(
[bag.get_end_time() - bag.get_start_time() for bag in bags])
path_for_command_line = list(bag_path)
else:
bag = rosbag.Bag(bag_path)
duration_in_seconds = bag.get_end_time() - bag.get_start_time()
path_for_command_line = [bag_path]
if start_time == 0:
command = ['rosbag', 'play'] + path_for_command_line
else:
command = ['rosbag', 'play', '-s',
str(start_time)] + path_for_command_line
if use_clock:
command = command + ['--clock']
play_proc = utils.new_process(command, output_to_console=True)
return play_proc, duration_in_seconds
def launch_rviz(config_path=None):
command = ['rviz']
if config_path is not None:
command += ['-d', config_path]
utils.new_process(command)
def kill_master():
_logger.info('Killing all live ROS master processes')
for proc_name in ['roscore', 'rosmaster', 'rosout']:
utils.kill_process(proc_name)
roslaunch_kill_proc = utils.new_process(['killall', 'roslaunch', '-2'])
roslaunch_kill_proc.communicate()
def save_map(map_name, dir_name):
save_map_proc = utils.new_process(
['rosrun', 'map_server', 'map_saver', '-f', map_name], cwd=dir_name)
time.sleep(1)
save_map_proc.kill()