def main(argv=sys.argv):
options = None
logger = None
try:
from . import rlutil
parser = _get_optparse()
(options, args) = parser.parse_args(argv[1:])
args = rlutil.resolve_launch_arguments(args)
_validate_args(parser, options, args)
# node args doesn't require any roslaunch infrastructure, so process it first
if any([
options.node_args, options.node_list, options.find_node,
options.dump_params, options.file_list, options.ros_args
]):
if options.node_args and not args:
parser.error("please specify a launch file")
from . import node_args
if options.node_args:
node_args.print_node_args(options.node_args, args)
elif options.find_node:
node_args.print_node_filename(options.find_node, args)
# Dump parameters, #2685
elif options.dump_params:
roslaunch_param_dump.dump_params(args)
elif options.file_list:
rlutil.print_file_list(args)
elif options.ros_args:
import arg_dump as roslaunch_arg_dump
roslaunch_arg_dump.dump_args(args)
else:
node_args.print_node_list(args)
return
# we have to wait for the master here because we don't have the run_id yet
if options.wait_for_master:
if options.core:
parser.error("--wait cannot be used with roscore")
rlutil._wait_for_master()
# write the pid to a file
write_pid_file(options.pid_fn, options.core, options.port)
# spin up the logging infrastructure. have to wait until we can read options.run_id
uuid = rlutil.get_or_generate_uuid(options.run_id,
options.wait_for_master)
configure_logging(uuid)
# #3088: don't check disk usage on remote machines
if not options.child_name and not options.skip_log_check:
# #2761
rlutil.check_log_disk_usage()
logger = logging.getLogger('roslaunch')
logger.info("roslaunch starting with args %s" % str(argv))
logger.info("roslaunch env is %s" % os.environ)
if options.child_name:
logger.info('starting in child mode')
# This is a roslaunch child, spin up client server.
# client spins up an XML-RPC server that waits for
# commands and configuration from the server.
from . import child as roslaunch_child
c = roslaunch_child.ROSLaunchChild(uuid, options.child_name,
options.server_uri)
c.run()
else:
logger.info('starting in server mode')
# #1491 change terminal name
if not options.disable_title:
rlutil.change_terminal_name(args, options.core)
# Read roslaunch string from stdin when - is passed as launch filename.
roslaunch_strs = []
if '-' in args:
roslaunch_core.printlog(
"Passed '-' as file argument, attempting to read roslaunch XML from stdin."
)
roslaunch_strs.append(sys.stdin.read())
roslaunch_core.printlog("... %d bytes read successfully.\n" %
len(roslaunch_strs[-1]))
args.remove('-')
# This is a roslaunch parent, spin up parent server and launch processes.
# args are the roslaunch files to load
from . import parent as roslaunch_parent
# force a port binding spec if we are running a core
if options.core:
options.port = options.port or DEFAULT_MASTER_PORT
p = roslaunch_parent.ROSLaunchParent(
uuid,
args,
roslaunch_strs=roslaunch_strs,
is_core=options.core,
port=options.port,
local_only=options.local_only,
verbose=options.verbose,
force_screen=options.force_screen,
force_log=options.force_log,
num_workers=options.num_workers,
timeout=options.timeout,
master_logger_level=options.master_logger_level,
show_summary=not options.no_summary,
force_required=options.force_required)
p.start()
p.spin()
except RLException as e:
handle_exception(roslaunch_core, logger, "RLException: ", e)
except ValueError as e:
# TODO: need to trap better than this high-level trap
handle_exception(roslaunch_core, logger, "Value error: ", e)
except rospkg.ResourceNotFound as e:
handle_exception(roslaunch_core, logger, "Resource not found: ", e)
except Exception as e:
traceback.print_exc()
sys.exit(1)
finally:
# remove the pid file
if options is not None and options.pid_fn:
try:
os.unlink(options.pid_fn)
except os.error:
pass
def main(argv=sys.argv):
options = None
try:
from . import rlutil
parser = _get_optparse()
(options, args) = parser.parse_args(argv[1:])
args = rlutil.resolve_launch_arguments(args)
_validate_args(parser, options, args)
# node args doesn't require any roslaunch infrastructure, so process it first
if any([options.node_args, options.node_list, options.find_node, options.dump_params, options.file_list, options.ros_args]):
if options.node_args and not args:
parser.error("please specify a launch file")
from . import node_args
if options.node_args:
node_args.print_node_args(options.node_args, args)
elif options.find_node:
node_args.print_node_filename(options.find_node, args)
# Dump parameters, #2685
elif options.dump_params:
roslaunch_param_dump.dump_params(args)
elif options.file_list:
rlutil.print_file_list(args)
elif options.ros_args:
import arg_dump as roslaunch_arg_dump
roslaunch_arg_dump.dump_args(args)
else:
node_args.print_node_list(args)
return
# we have to wait for the master here because we don't have the run_id yet
if options.wait_for_master:
if options.core:
parser.error("--wait cannot be used with roscore")
rlutil._wait_for_master()
# write the pid to a file
write_pid_file(options.pid_fn, options.core, options.port)
# spin up the logging infrastructure. have to wait until we can read options.run_id
uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master)
configure_logging(uuid)
# #3088: don't check disk usage on remote machines
if not options.child_name and not options.skip_log_check:
# #2761
rlutil.check_log_disk_usage()
logger = logging.getLogger('roslaunch')
logger.info("roslaunch starting with args %s"%str(argv))
logger.info("roslaunch env is %s"%os.environ)
if options.child_name:
logger.info('starting in child mode')
# This is a roslaunch child, spin up client server.
# client spins up an XML-RPC server that waits for
# commands and configuration from the server.
from . import child as roslaunch_child
c = roslaunch_child.ROSLaunchChild(uuid, options.child_name, options.server_uri)
c.run()
else:
logger.info('starting in server mode')
# #1491 change terminal name
rlutil.change_terminal_name(args, options.core)
# This is a roslaunch parent, spin up parent server and launch processes.
# args are the roslaunch files to load
from . import parent as roslaunch_parent
try:
# force a port binding spec if we are running a core
if options.core:
options.port = options.port or DEFAULT_MASTER_PORT
p = roslaunch_parent.ROSLaunchParent(uuid, args, is_core=options.core, port=options.port, local_only=options.local_only, verbose=options.verbose, force_screen=options.force_screen)
p.start()
p.spin()
finally:
# remove the pid file
if options.pid_fn:
try: os.unlink(options.pid_fn)
except os.error, reason: pass
except RLException as e:
roslaunch_core.printerrlog(str(e))
sys.exit(1)
except ValueError as e:
# TODO: need to trap better than this high-level trap
roslaunch_core.printerrlog(str(e))
sys.exit(1)
except Exception as e:
traceback.print_exc()
sys.exit(1)
def main(argv=sys.argv):
options = None
try:
from . import rlutil
parser = _get_optparse()
(options, args) = parser.parse_args(argv[1:])
args = rlutil.resolve_launch_arguments(args)
_validate_args(parser, options, args)
# node args doesn't require any roslaunch infrastructure, so process it first
if any([options.node_args, options.node_list, options.find_node, options.dump_params, options.file_list, options.ros_args]):
if options.node_args and not args:
parser.error("please specify a launch file")
from . import node_args
if options.node_args:
node_args.print_node_args(options.node_args, args)
elif options.find_node:
node_args.print_node_filename(options.find_node, args)
# Dump parameters, #2685
elif options.dump_params:
roslaunch_param_dump.dump_params(args)
elif options.file_list:
rlutil.print_file_list(args)
elif options.ros_args:
import arg_dump as roslaunch_arg_dump
roslaunch_arg_dump.dump_args(args)
else:
node_args.print_node_list(args)
return
# we have to wait for the master here because we don't have the run_id yet
if options.wait_for_master:
if options.core:
parser.error("--wait cannot be used with roscore")
rlutil._wait_for_master()
# write the pid to a file
write_pid_file(options.pid_fn, options.core, options.port)
# spin up the logging infrastructure. have to wait until we can read options.run_id
uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master)
configure_logging(uuid)
# #3088: don't check disk usage on remote machines
if not options.child_name and not options.skip_log_check:
# #2761
rlutil.check_log_disk_usage()
logger = logging.getLogger('roslaunch')
logger.info("roslaunch starting with args %s"%str(argv))
logger.info("roslaunch env is %s"%os.environ)
if options.child_name:
logger.info('starting in child mode')
# This is a roslaunch child, spin up client server.
# client spins up an XML-RPC server that waits for
# commands and configuration from the server.
from . import child as roslaunch_child
c = roslaunch_child.ROSLaunchChild(uuid, options.child_name, options.server_uri)
c.run()
else:
logger.info('starting in server mode')
# #1491 change terminal name
if not options.disable_title:
rlutil.change_terminal_name(args, options.core)
# This is a roslaunch parent, spin up parent server and launch processes.
# args are the roslaunch files to load
from . import parent as roslaunch_parent
try:
# force a port binding spec if we are running a core
if options.core:
options.port = options.port or DEFAULT_MASTER_PORT
p = roslaunch_parent.ROSLaunchParent(uuid, args, is_core=options.core, port=options.port, local_only=options.local_only, verbose=options.verbose, force_screen=options.force_screen)
p.start()
p.spin()
finally:
# remove the pid file
if options.pid_fn:
try: os.unlink(options.pid_fn)
except os.error, reason: pass
except RLException as e:
roslaunch_core.printerrlog(str(e))
sys.exit(1)
except ValueError as e:
# TODO: need to trap better than this high-level trap
roslaunch_core.printerrlog(str(e))
sys.exit(1)
except Exception as e:
traceback.print_exc()
sys.exit(1)
