def delayed_import_auto(distro=None, base_path=None):
import os
distro = distro or 'indigo'
# default basepath working if pyros-setup is directly cloned in your workspace
# This file think it is in devel/lib/python2.7/dist-packages/pyros_setup for some reason...
# NOTE : maybe the default here is a bad idea, making it simpler than it should be for the user...
base_path = base_path or os.path.join(os.path.dirname(__file__), '..',
'..', '..', '..', '..')
try:
import rospy # early except to prevent unintentional workaround in all modules here
from pyros.rosinterface.topic import TopicBack
from pyros.rosinterface.service import ServiceBack
from pyros.rosinterface.param import ParamBack
from pyros.rosinterface.ros_interface import RosInterface
from pyros.rosinterface.pyros_ros import PyrosROS
except ImportError:
import pyros_setup
pyros_setup.delayed_import_auto(distro, base_path)
from pyros.rosinterface.topic import TopicBack # apparently this makes it more robust for celeros import from beat process...
from pyros.rosinterface.service import ServiceBack
from pyros.rosinterface.param import ParamBack
from pyros.rosinterface.ros_interface import RosInterface
from pyros.rosinterface.pyros_ros import PyrosROS
# we return a relay of imported names, accessible the same way a direct import would be.
return _PyrosSetup(
TopicBack, ServiceBack, ParamBack, RosInterface, PyrosROS
) # not supported by import from celeros beat process... improvement needee in pyros setup ?
def run(self):
"""
Running in a zmp.Node process, providing zmp.services
"""
# Environment should be setup here if needed ( we re in another process ).
sys.modules["pyros_setup"] = pyros_setup.delayed_import_auto(
distro='indigo', base_path=self.base_path)
# master has to be running here or we just wait for ever
m, _ = pyros_setup.get_master(spawn=False)
while not m.is_online():
time.sleep(0.5)
# we initialize the node here, in subprocess, passing ros parameters.
# disabling signal to avoid overriding callers behavior
rospy.init_node(self.name, argv=self.str_argv, disable_signals=True)
rospy.loginfo('PyrosROS {name} node started with args : {argv}'.format(
name=self.name, argv=self.str_argv))
# TODO : install shutdown hook to shutdown if detected
try:
# this spins with regular frequency
super(PyrosROS, self).run(
) # we override parent run to add one argument to ros interface
except KeyboardInterrupt:
rospy.logwarn('PyrosROS node stopped by keyboard interrupt')
import unittest
from nose.tools import assert_equal, assert_true, nottest
import time
try:
import rospy
import rosgraph
import roslaunch
import std_msgs.msg as std_msgs
except ImportError as exc: # this will except only if you didnt setup ROS environment first
import os
import pyros_setup
import sys
# pass here the path to your workspace as argument
sys.modules["pyros_setup"] = pyros_setup.delayed_import_auto(
base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..',
'..', '..', '..', '..'))
import rospy
import rosgraph
import roslaunch
import std_msgs.msg as std_msgs
launch = None
roscore_process = None
# ############################################################################ #
# ### The aim of this file is to test strange behavior on core ROS modules ### #
# ############################################################################ #
# setup / teardown for EACH test to avoid side effects in same process
import os
import time
# Unit test import
try:
import rostest
import rospy
import roslaunch
from std_msgs.msg import String, Empty
from std_srvs.srv import Trigger, TriggerResponse
from pyros_setup import rostest_nose
except ImportError as exc:
import os
import sys
import pyros_setup
pyros_setup = pyros_setup.delayed_import_auto(base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..', '..'))
import rostest
import rospy
import roslaunch
from std_msgs.msg import String, Empty
from std_srvs.srv import Trigger, TriggerResponse
from pyros_setup import rostest_nose
from celeros import celeros_app
from celeros import rostasks
launch = None
worker_process = None
# TODO : maybe we need a config for tests specifically ( instead of using the default )
app = "celeros.app" # OR celeros.celeros_app OR celeros_app ( to match code )??