def main():
""" Implementation of the ``install`` script."""
args = get_argument_parser().parse_args()
pkg, pkgpath = args.pkgpath[0].split('/', 1)
job_name = args.job or pkg.split('_', 1)[0]
# Any unspecified arguments are on the args object as None. These are filled
# in by the Job constructor when passed as Nones.
j = robot_upstart.Job(name=job_name,
interface=args.interface,
user=args.user,
workspace_setup=args.setup,
rosdistro=args.rosdistro,
master_uri=args.master,
log_path=args.logdir,
systemd_after=args.systemd_after)
for this_pkgpath in args.pkgpath:
pkg, pkgpath = this_pkgpath.split('/', 1)
if not pkg:
print(
"Unable to locate package your job launch is in."
" Installation aborted. " + DESC_PKGPATH +
"\npkgpath passed: {}.".format(pkgpath))
return 1
found_path = find_in_workspaces(project=pkg,
path=pkgpath,
first_match_only=True)
if not found_path:
print "Unable to locate path %s in package %s. Installation aborted." % (
pkgpath, pkg)
return 1
if os.path.isfile(found_path[0]):
# Single file, install just that.
j.add(package=pkg, filename=pkgpath)
else:
# Directory found, install everything within.
j.add(package=pkg, glob=os.path.join(pkgpath, "*"))
if args.augment:
j.generate_system_files = False
if args.wait:
j.roslaunch_wait = True
provider = providers.detect_provider()
if args.provider == 'upstart':
provider = providers.Upstart
if args.provider == 'systemd':
provider = providers.Systemd
if args.symlink:
j.symlink = True
j.install(Provider=provider)
return 0
def main():
""" Implementation of the ``uninstall`` script."""
args = get_argument_parser().parse_args()
j = robot_upstart.Job(name=args.jobname[0], rosdistro=args.rosdistro)
j.uninstall()
return 0
def test_install_glob(self):
j = robot_upstart.Job(name="baz")
j.add('robot_upstart', glob='test/launch/*.launch')
j.install(sudo=None, root=self.root_dir)
self.assertTrue(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"baz.d/a.launch")), "Launch file not copied.")
self.assertTrue(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"baz.d/b.launch")), "Launch file not copied.")
def test_uninstall(self):
j = robot_upstart.Job(name="boo")
j.add('robot_upstart', glob='test/launch/*.launch')
j.install(sudo=None, root=self.root_dir)
j.uninstall(sudo=None, root=self.root_dir)
self.assertFalse(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"), "boo.d")),
"Job dir not removed.")
self.assertFalse(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"usr/sbin/foo-start")), "Start script not removed.")
def test_install_launcher(self):
j = robot_upstart.Job(name="bar")
j.add('robot_upstart', 'test/launch/a.launch')
j.install(sudo=None, root=self.root_dir)
self.assertTrue(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"bar.d/a.launch")), "Launch file not copied.")
self.assertFalse(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"bar.d/b.launch")),
"Launch copied which shouldn't have been.")
def test_uninstall_user_file(self):
j = robot_upstart.Job(name="goo")
j.add('robot_upstart', glob='test/launch/*.launch')
j.install(sudo=None, root=self.root_dir)
with open(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"goo.d/c.launch"), "w") as f:
f.write("<launch></launch>")
j.uninstall(sudo=None, root=self.root_dir)
self.assertTrue(
os.path.exists(
self.pjoin("etc/ros", os.getenv("ROS_DISTRO"),
"goo.d/c.launch")),
"User launch file wrongly removed.")
def test_install(self):
j = robot_upstart.Job(name="foo")
j.install(sudo=None, root=self.root_dir)
self.assertTrue(os.path.exists(self.pjoin("usr/sbin/foo-start")),
"Start script not created.")
self.assertTrue(os.path.exists(self.pjoin("usr/sbin/foo-stop")),
"Stop script not created.")
self.assertTrue(os.path.exists(self.pjoin("etc/init/foo.conf")),
"Upstart configuration file not created.")
self.assertEqual(
0,
subprocess.call(["bash", "-n",
self.pjoin("usr/sbin/foo-start")]),
"Start script not valid bash syntax.")
self.assertEqual(
0, subprocess.call(["bash", "-n",
self.pjoin("usr/sbin/foo-stop")]),
"Stop script not valid bash syntax.")
def main():
""" Implementation of the ``install`` script."""
args = get_argument_parser().parse_args()
pkg, pkgpath = args.pkgpath[0].split('/', 1)
job_name = args.job or pkg.split('_', 1)[0]
# Any unspecified arguments are on the args object as None. These are filled
# in by the Job constructor when passed as Nones.
j = robot_upstart.Job(name=job_name,
interface=args.interface,
user=args.user,
workspace_setup=args.setup,
rosdistro=args.rosdistro,
master_uri=args.master,
log_path=args.logdir)
found_path = find_in_workspaces(project=pkg,
path=pkgpath,
first_match_only=True)
if not found_path:
print "Unable to locate path %s in package %s. Installation aborted." % (
pkgpath, pkg)
if os.path.isfile(found_path[0]):
# Single file, install just that.
j.add(package=pkg, filename=pkgpath)
else:
# Directory found, install everything within.
j.add(package=pkg, glob=os.path.join(pkgpath, "*"))
if args.augment:
j.generate_system_files = False
j.install()
return 0
#!/usr/bin/env python
import robot_upstart
j = robot_upstart.Job('rtcrobot', master_uri='http://192.168.5.10:11311')
j.symlink = True
#j.add(package="rtcrobot_webinterface", filename="launch/webserver.launch")
j.add(package="rtcrobot_base", filename="launch/rtcrobot_common.launch")
j.install()
to $ROS_DISTRO from the current environment. master_uri (str) - For systems with multiple computers, you may want this job to launch with ROS_MASTER_URI pointing to another machine. log_path (str) - The location to set ROS_LOG_DIR to. If changed from the default of using /tmp, it is the user’s responsibility to manage log rotation. master_service (str) - Optional: Specify the name of the service that should start roscore, preferably one that will be persistent. When specified, other services that launch nodes/params will activate only after the master service """ # CORE ---------------------------------------------------------------# j = robot_upstart.Job(name=roscore_service_name) # service name j.interface = rosip_interface j.symlink = True j.log_path = log_dir j.master_uri = master # j.user = '******' # j.workspace_setup ="../setup.bash" j.add(package="mira_description", filename="launch/display.launch") # j.install() # NODES ---------------------------------------------------------------#
#!/usr/bin/env python
import os
import robot_upstart
j = robot_upstart.Job("AXIS_SETUP")
j.add(package="axis_camera", filename="launch/axis.launch")
j.install()
#!/usr/bin/env python
import robot_upstart
j = robot_upstart.Job('rtcrobot')
j.add(package="rtcrobot_webinterface", filename="launch/webserver.launch")
#j.add(package="rtcrobot_base", filename="launch/rtcrobot_common.launch")
j.install()
import robot_upstart st=robot_upstart.Job() st.add(package="Robotics_Lab_UAV",filename="Data_collection_UAV.launch") st.install()
