def main(name):
'''
Start the NodeManager or EchoDialog.
:param name: the name propagated to the rospy.init_node()
:type name: str
'''
try:
from python_qt_binding.QtGui import QApplication
except:
try:
from python_qt_binding.QtWidgets import QApplication
except:
print >> sys.stderr, "please install 'python_qt_binding' package!!"
sys.exit(-1)
init_settings()
detect_version()
parser = init_arg_parser()
args = rospy.myargv(argv=sys.argv)
parsed_args = parser.parse_args(args[1:])
if parsed_args.muri:
masteruri = parsed_args.muri[0]
hostname = NameResolution.get_ros_hostname(masteruri)
os.environ['ROS_MASTER_URI'] = masteruri
if hostname:
os.environ['ROS_HOSTNAME'] = hostname
masteruri = settings().masteruri()
# Initialize Qt
global _QAPP
_QAPP = QApplication(sys.argv)
# decide to show main or echo dialog
global _MAIN_FORM
try:
if parsed_args.echo:
_MAIN_FORM = init_echo_dialog(name, masteruri, parsed_args.echo[0],
parsed_args.echo[1], parsed_args.hz,
parsed_args.ssh)
else:
_MAIN_FORM = init_main_window(name, masteruri, parsed_args.file)
except Exception as err:
sys.exit("%s" % err)
exit_code = 0
# resize and show the qt window
if not rospy.is_shutdown():
# change path for access to the images of descriptions
os.chdir(settings().PACKAGE_DIR)
# _MAIN_FORM.resize(1024, 720)
screen_size = QApplication.desktop().availableGeometry()
if (_MAIN_FORM.size().width() >= screen_size.width()
or _MAIN_FORM.size().height() >= screen_size.height() - 24):
_MAIN_FORM.showMaximized()
else:
_MAIN_FORM.show()
exit_code = -1
rospy.on_shutdown(finish)
exit_code = _QAPP.exec_()
return exit_code
def main(name):
'''
Start the NodeManager or EchoDialog.
:param name: the name propagated to the rospy.init_node()
:type name: str
'''
try:
from python_qt_binding.QtGui import QApplication
except:
try:
from python_qt_binding.QtWidgets import QApplication
except:
print >> sys.stderr, "please install 'python_qt_binding' package!!"
sys.exit(-1)
init_settings()
parser = init_arg_parser()
args = rospy.myargv(argv=sys.argv)
parsed_args = parser.parse_args(args[1:])
if parsed_args.muri:
masteruri = parsed_args.muri[0]
hostname = NameResolution.get_ros_hostname(masteruri)
os.environ['ROS_MASTER_URI'] = masteruri
if hostname:
os.environ['ROS_HOSTNAME'] = hostname
masteruri = settings().masteruri()
# Initialize Qt
global _QAPP
_QAPP = QApplication(sys.argv)
# decide to show main or echo dialog
global _MAIN_FORM
try:
if parsed_args.echo:
_MAIN_FORM = init_echo_dialog(name, masteruri, parsed_args.echo[0],
parsed_args.echo[1], parsed_args.hz,
parsed_args.ssh)
else:
_MAIN_FORM = init_main_window(name, masteruri, parsed_args.file)
except Exception as err:
sys.exit("%s" % err)
exit_code = 0
# resize and show the qt window
if not rospy.is_shutdown():
# change path for access to the images of descriptions
os.chdir(settings().PACKAGE_DIR)
# _MAIN_FORM.resize(1024, 720)
screen_size = QApplication.desktop().availableGeometry()
if (_MAIN_FORM.size().width() >= screen_size.width() or
_MAIN_FORM.size().height() >= screen_size.height() - 24):
_MAIN_FORM.showMaximized()
else:
_MAIN_FORM.show()
exit_code = -1
rospy.on_shutdown(finish)
exit_code = _QAPP.exec_()
return exit_code
def get_ros_hostname(url):
'''
Returns the host name used in a url, if it is a name. If it is an IP an
empty string will be returned.
@return: host or '' if url is an IP or invalid
@rtype: C{str}
'''
return NameResolution.get_ros_hostname(url)
def get_ros_hostname(url):
'''
Returns the host name used in a url, if it is a name. If it is an IP an
empty string will be returned.
@return: host or '' if url is an IP or invalid
@rtype: C{str}
'''
return NameResolution.get_ros_hostname(url)
def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(nm.ScreenHandler.LOG_PATH):
os.makedirs(nm.ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except:
# run a roscore
master_host = get_hostname(masteruri)
if nm.is_local(master_host, True):
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (nm.ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port)
for n in [1, 2, 3, 4]:
try:
if n == 1:
print("Launch ROS Master in screen ...")
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
elif n == 2:
print("ROS Master takes too long for start, wait for next 10 sec ...")
elif n == 3:
print("A really slow start, wait for last 10 sec ...")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
return
except Exception:
time.sleep(1)
count += 1
if n == 4 and count >= 11:
raise StartException('Cannot connect to ROS-Master: %s\n--> please run "roscore" manually!' % utf8(masteruri))
except Exception as e:
raise Exception("Error while call '%s': %s" % (cmd_args, utf8(e)))
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(nm.ScreenHandler.LOG_PATH):
os.makedirs(nm.ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except:
# run a roscore
master_host = get_hostname(masteruri)
if nm.is_local(master_host, True):
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (nm.ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port)
for n in [1, 2, 3, 4]:
try:
if n == 1:
print("Launch ROS Master in screen ...")
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
elif n == 2:
print("ROS Master takes too long for start, wait for next 10 sec ...")
elif n == 3:
print("A really slow start, wait for last 10 sec ...")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
return
except Exception:
time.sleep(1)
count += 1
if n == 4 and count >= 11:
raise StartException('Cannot connect to ROS-Master: %s\n--> please run "roscore" manually!' % utf8(masteruri))
except Exception as e:
raise Exception("Error while call '%s': %s" % (cmd_args, utf8(e)))
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
#start roscore, if needed
try:
if not os.path.isdir(nm.ScreenHandler.LOG_PATH):
os.makedirs(nm.ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except:
# socket.setdefaulttimeout(None)
# import traceback
# print traceback.format_exc(3)
# run a roscore
from urlparse import urlparse
master_host = urlparse(masteruri).hostname
if nm.is_local(master_host, True):
master_port = urlparse(masteruri).port
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d'%(nm.ScreenHandler.getSceenCmd('/roscore--%d'%master_port), master_port)
try:
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name())#_:=uri, msg
except:
time.sleep(1)
count += 1
if count >= 11:
raise StartException('Cannot connect to the ROS-Master: '+ str(masteruri))
except Exception as e:
import sys
print >> sys.stderr, e
raise
else:
raise Exception("ROS master '%s' is not reachable"%masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if not masteruri:
masteruri = masteruri_from_ros()
#start roscore, if needed
try:
if not os.path.isdir(ScreenHandler.LOG_PATH):
os.makedirs(ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
except:
# socket.setdefaulttimeout(None)
# import traceback
# print traceback.format_exc(1)
# run a roscore
from urlparse import urlparse
master_host = urlparse(masteruri).hostname
if cls.is_local(master_host, True):
print "Start ROS-Master with", masteruri, "..."
master_port = urlparse(masteruri).port
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d'%(ScreenHandler.getSceenCmd('/roscore--%d'%master_port), master_port)
print " %s"%cmd_args
try:
subprocess.Popen(shlex.split(cmd_args), env=new_env)
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
print " retry connect to ROS master", count, '/', 10
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name())#_:=uri, msg
except:
time.sleep(1)
count += 1
if count >= 11:
raise StartException('Cannot connect to the ROS-Master: '+ str(masteruri))
except Exception as e:
import sys
print >> sys.stderr, e
raise
else:
raise Exception("ROS master '%s' is not reachable"%masteruri)
finally:
socket.setdefaulttimeout(None)
def init_globals(masteruri):
'''
:return: True if the masteruri referred to localhost
:rtype: bool
'''
# initialize the global handler
global _SSH_HANDLER
global _SCREEN_HANDLER
global _START_HANDLER
global _NAME_RESOLUTION
global _HISTORY
global _FILE_WATCHER
global _FILE_WATCHER_PARAM
_SSH_HANDLER = SSHhandler()
_SCREEN_HANDLER = ScreenHandler()
_START_HANDLER = StartHandler()
_NAME_RESOLUTION = NameResolution()
_HISTORY = History()
_FILE_WATCHER = FileWatcher()
_FILE_WATCHER_PARAM = FileWatcher()
# test where the roscore is running (local or remote)
__is_local('localhost') ## fill cache
return __is_local(_NAME_RESOLUTION.getHostname(masteruri)) # # fill cache
def init_globals(masteruri):
'''
:return: True if the masteruri referred to localhost
:rtype: bool
'''
# initialize the global handler
global _SSH_HANDLER
global _SCREEN_HANDLER
global _START_HANDLER
global _NAME_RESOLUTION
global _HISTORY
global _FILE_WATCHER
global _FILE_WATCHER_PARAM
_SSH_HANDLER = SSHhandler()
_SCREEN_HANDLER = ScreenHandler()
_START_HANDLER = StartHandler()
_NAME_RESOLUTION = NameResolution()
_HISTORY = History()
_FILE_WATCHER = FileWatcher()
_FILE_WATCHER_PARAM = FileWatcher()
# test where the roscore is running (local or remote)
__is_local('localhost') ## fill cache
return __is_local(_NAME_RESOLUTION.getHostname(masteruri)) # # fill cache
def runNode(cls, runcfg):
'''
Start the node with given name from the given configuration.
@param runcfg: the configuration containing the start parameter
@type runcfg: AdvRunCfg
@raise StartException: if the screen is not available on host.
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # package names
# set the global parameter
if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done:
global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg)
rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in global_node_names.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request)
runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri)
# add params
if runcfg.masteruri is not None:
nodens = ''.join([n.namespace, n.name, rospy.names.SEP])
params = dict()
for param, value in runcfg.roslaunch_config.Roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in runcfg.roslaunch_config.Roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(cparam)
rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params))
rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in params.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(utf8(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(utf8(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (utf8(n.package), utf8(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
new_env[k] = v_value
if is_abs_path:
abs_paths.append(('ENV', "%s=%s" % (k, v), "%s=%s" % (k, v_value)))
if not found and package:
not_found_packages.append(package)
env_command = "env " + ' '.join(["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()])
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', utf8(n.package),
'--node_type', utf8(n.type),
'--node_name', utf8(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
node_args.append(a_value)
if is_abs_path:
abs_paths.append(('ARGS', a, a_value))
if not found and package:
not_found_packages.append(package)
startcmd[len(startcmd):] = node_args
startcmd[len(startcmd):] = args
rospy.loginfo("Run remote on %s: %s", host, utf8(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(utf8(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
rospy.loginfo("Absolute paths found while start:\n%s", utf8('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths])))
if len(not_found_packages) > 0:
packages = '\n'.join(not_found_packages)
raise StartException(utf8('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))
def runNodeWithoutConfig(cls, host, package, binary, name, args=[], masteruri=None, auto_pw_request=False, user=None, pw=None):
'''
Start a node with using a launch configuration.
@param host: the host or ip to run the node
@type host: C{str}
@param package: the ROS package containing the binary
@type package: C{str}
@param binary: the binary of the node to execute
@type binary: C{str}
@param name: the ROS name of the node (with name space)
@type name: C{str}
@param args: the list with arguments passed to the binary
@type args: C{[str, ...]}
@param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread
@type auto_pw_request: bool
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# create the name with namespace
args2 = list(args)
fullname = roslib.names.ns_join(roslib.names.SEP, name)
namespace = ''
for a in args:
if a.startswith('__ns:='):
namespace = a.replace('__ns:=', '')
fullname = roslib.names.ns_join(namespace, name)
args2.append(''.join(['__name:=', name]))
# run on local host
if nm.is_local(host, wait=True):
try:
cmd = roslib.packages.find_node(package, binary)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(utf8(e))
# handle different result types str or array of string
# import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException('%s in package [%s] not found!' % (binary, package))
if len(cmd) > 1:
# Open selection for executables
err = [''.join(['Multiple executables with same name in package [', package, '] found:'])]
err.extend(cmd)
raise StartException('\n'.join(err))
else:
cmd_type = cmd[0]
cmd_str = utf8(' '.join([nm.screen().getSceenCmd(fullname), cmd_type, ' '.join(args2)]))
rospy.loginfo("Run without config: %s", cmd_str)
new_env = dict(os.environ)
if namespace:
new_env['ROS_NAMESPACE'] = namespace
if masteruri is not None:
cls._prepareROSMaster(masteruri)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
SupervisedPopen(shlex.split(cmd_str), env=new_env, object_id="Run without config", description="Run without config [%s]%s" % (utf8(package), utf8(binary)))
else:
# run on a remote machine
startcmd = [nm.settings().start_remote_script,
'--package', utf8(package),
'--node_type', utf8(binary),
'--node_name', utf8(fullname)]
startcmd[len(startcmd):] = args2
if masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(masteruri)
rospy.loginfo("Run remote on %s: %s", host, ' '.join(startcmd))
try:
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request, close_stdin=True)
if ok:
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
if error:
rospy.logwarn("ERROR while start '%s': %s", name, error)
raise StartException(''.join(['The host "', host, '" reports:\n', error]))
if output:
rospy.logdebug("STDOUT while start '%s': %s", name, output)
else:
if error:
rospy.logwarn("ERROR while start '%s': %s", name, error)
raise StartException(''.join(['The host "', host, '" reports:\n', error]))
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNodeWithoutConfig, (host, package, binary, name, args, masteruri, auto_pw_request))
def runNode(cls, runcfg):
'''
Start the node with given name from the given configuration.
@param runcfg: the configuration containing the start parameter
@type runcfg: AdvRunCfg
@raise StartException: if the screen is not available on host.
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # package names
# set the global parameter
if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done:
global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg)
rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s" % (str(v)[:80], '...' if len(str(v)) > 80 else'') for v in global_node_names.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request)
runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri)
# add params
if runcfg.masteruri is not None:
nodens = ''.join([n.namespace, n.name, rospy.names.SEP])
params = dict()
for param, value in runcfg.roslaunch_config.Roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in runcfg.roslaunch_config.Roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(cparam)
rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params))
rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (str(v)[:80], '...' if len(str(v)) > 80 else'') for v in params.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(str(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(str(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (str(n.package), str(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
new_env[k] = v_value
if is_abs_path:
abs_paths.append(('ENV', "%s=%s" % (k, v), "%s=%s" % (k, v_value)))
if not found and package:
not_found_packages.append(package)
env_command = "env " + ' '.join(["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()])
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', str(n.package),
'--node_type', str(n.type),
'--node_name', str(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
node_args.append(a_value)
if is_abs_path:
abs_paths.append(('ARGS', a, a_value))
if not found and package:
not_found_packages.append(package)
startcmd[len(startcmd):] = node_args
startcmd[len(startcmd):] = args
rospy.loginfo("Run remote on %s: %s", host, str(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(str(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
rospy.loginfo("Absolute paths found while start:\n%s", str('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths])))
if len(not_found_packages) > 0:
packages = '\n'.join(not_found_packages)
raise StartException(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))
def runNodeWithoutConfig(cls, host, package, binary, name, args=[], masteruri=None, auto_pw_request=False, user=None, pw=None):
'''
Start a node with using a launch configuration.
@param host: the host or ip to run the node
@type host: C{str}
@param package: the ROS package containing the binary
@type package: C{str}
@param binary: the binary of the node to execute
@type binary: C{str}
@param name: the ROS name of the node (with name space)
@type name: C{str}
@param args: the list with arguments passed to the binary
@type args: C{[str, ...]}
@param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread
@type auto_pw_request: bool
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# create the name with namespace
args2 = list(args)
fullname = roslib.names.ns_join(roslib.names.SEP, name)
namespace = ''
for a in args:
if a.startswith('__ns:='):
namespace = a.replace('__ns:=', '')
fullname = roslib.names.ns_join(namespace, name)
args2.append(''.join(['__name:=', name]))
# run on local host
if nm.is_local(host, wait=True):
try:
cmd = roslib.packages.find_node(package, binary)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise StartException(str(e))
# handle different result types str or array of string
# import types
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException('%s in package [%s] not found!' % (binary, package))
if len(cmd) > 1:
# Open selection for executables
err = [''.join(['Multiple executables with same name in package [', package, '] found:'])]
err.extend(cmd)
raise StartException('\n'.join(err))
else:
cmd_type = cmd[0]
cmd_str = str(' '.join([nm.screen().getSceenCmd(fullname), cmd_type, ' '.join(args2)]))
rospy.loginfo("Run without config: %s", cmd_str)
new_env = dict(os.environ)
if namespace:
new_env['ROS_NAMESPACE'] = namespace
if masteruri is not None:
cls._prepareROSMaster(masteruri)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
SupervisedPopen(shlex.split(cmd_str), env=new_env, object_id="Run without config", description="Run without config [%s]%s" % (str(package), str(binary)))
else:
# run on a remote machine
startcmd = [nm.settings().start_remote_script,
'--package', str(package),
'--node_type', str(binary),
'--node_name', str(fullname)]
startcmd[len(startcmd):] = args2
if masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(masteruri)
rospy.loginfo("Run remote on %s: %s", host, ' '.join(startcmd))
try:
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request, close_stdin=True)
if ok:
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
if error:
rospy.logwarn("ERROR while start '%s': %s", name, error)
raise StartException(''.join(['The host "', host, '" reports:\n', error]))
# from python_qt_binding import QtGui
# QtGui.QMessageBox.warning(None, 'Error while remote start %s'%str(name),
# str(''.join(['The host "', host, '" reports:\n', error])),
# QtGui.QMessageBox.Ok)
if output:
rospy.logdebug("STDOUT while start '%s': %s", name, output)
else:
if error:
rospy.logwarn("ERROR while start '%s': %s", name, error)
raise StartException(''.join(['The host "', host, '" reports:\n', error]))
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNodeWithoutConfig, (host, package, binary, name, args, masteruri, auto_pw_request))