def add_local_dns_to_robot(self):
self._print_title("ADDING LOCAL DNS TO ROBOT")
rospy.loginfo("IPS FOUND: " + str(self.MY_IPS))
if not self.using_the_robot:
self._print_warning("Not checking. ROS_MASTER_URI no contains " + str(ROBOTS_NAME))
return succeeded
for robot_name in ROBOTS_NAME:
if robot_name in ROS_MASTER_URI.lower():
robot_ip = socket.gethostbyname(ROBOT_COMPUTER_NAME)
command = "ip route get %s" % str(robot_ip)
out, err = Popen(command, shell=True, stdout=PIPE, stderr=PIPE).communicate()
route_to_robot = out.split("\n")[0]
my_ip = route_to_robot.split(" ")[len(route_to_robot.split(" ")) - 2]
rospy.loginfo("SELECTED IP: %s" % my_ip)
command = "addLocalDns -u %s -i %s " % (COMPUTERNAME, my_ip)
status = RunCommandOnRobot(command).execute(UserdataHacked())
if status == succeeded:
self._print_info("Successfully added {%s, %s}" % (COMPUTERNAME, my_ip))
else:
self.ALL_OK = False
self._print_fatal("Failed adding {%s, %s}." % (COMPUTERNAME, my_ip))
return status
# self.ALL_OK = False
self._print_warning("Not added. Running on the robot.")
def synchronize_time(self):
self._print_title("SYNCHRONIZING TIME")
if not self.using_the_robot:
self._print_warning("Not synchronizing. ROS_MASTER_URI no contains %s " % ROBOTS_NAME)
return succeeded
for robot_name in ROBOTS_NAME:
if robot_name in ROS_MASTER_URI.lower():
command = "ntpdate -u " + str(ROBOT_COMPUTER_NAME)
if RunCommandLocal(command=command, sudo_enabled=True).execute(UserdataHacked()) == succeeded:
self._print_info("Synchronizing time: OK")
else:
self.ALL_OK = False
self._print_fatal("Synchronizing time: FAILED")
break
import rostopic
import rosservice
import rosgraph.masterapi
from global_common import succeeded, aborted
from coord_translator.srv import LocationTranslator, ObjectTranslator, ObjectTranslatorRequest
from smach_ros import ServiceState
from subprocess import Popen, PIPE
from pal_smach_utils.utils.check_using_robot import CheckUsingRobot, ROBOTS_NAME, ROS_MASTER_URI, COMPUTERNAME
from pal_smach_utils.utils.run_command_local import RunCommandLocal
from pal_smach_utils.utils.run_command_on_robot import RunCommandOnRobot
from pal_smach_utils.utils.colors import Colors
from pal_control_msgs.msg import MotionManagerGoal, MotionManagerAction
from smach_ros import SimpleActionState
from roslib import packages
ROBOT_COMPUTER_NAME = ROS_MASTER_URI.split("http://")[1].split(":")[0] # Assuming always http://$COMPUTER:11311
USERNAME = "******" # SSH login robot
PASSWORD = "******" # SSH password robot
TOPIC_LIST_NAMES = [ # Topics and Actions
##################### Topics #####################
"/usersaid",
"/iri_people_tracking_rai/peopleSet",
"/nlp", # sm_gpsr_apply.py
"/iri_moped_handler/outputOPL", # recognize_objects.py
"/joint_states", # search_objects_behaviour.py
"/blort_tracker/outputOPL", # search_objects_behaviour.py
"/iri_door_detector/door_cloud/closed_door_marker", # enter_door.py
"/followMe/result", # go_to_exit_and_follow_checker.py
"/smoke_detector/smoke_percentage",
"/LMS1xx/LAS_00", # enter_room.py
