def _roswtf_main():
launch_files = names = None
# performance optimization
rospack = rospkg.RosPack()
all_pkgs = rospack.list()
import optparse
parser = optparse.OptionParser(usage="usage: roswtf [launch file]", description="roswtf is a tool for verifying a ROS installation and running system. Checks provided launchfile if provided, else current stack or package.")
# #2268
parser.add_option("--all",
dest="all_packages", default=False,
action="store_true",
help="run roswtf against all packages")
# #2270
parser.add_option("--no-plugins",
dest="disable_plugins", default=False,
action="store_true",
help="disable roswtf plugins")
parser.add_option("--offline",
dest="offline", default=False,
action="store_true",
help="only run offline tests")
#TODO: --all-pkgs option
options, args = parser.parse_args()
if args:
launch_files = args
if 0:
# disable names for now as don't have any rules yet
launch_files = [a for a in args if os.path.isfile(a)]
names = [a for a in args if not a in launch_files]
names = [rosgraph.names.script_resolve_name('/roswtf', n) for n in names]
from roswtf.context import WtfContext
from roswtf.environment import wtf_check_environment, invalid_url, ros_root_check
from roswtf.graph import wtf_check_graph
import roswtf.network
import roswtf.packages
import roswtf.roslaunchwtf
import roswtf.stacks
import roswtf.plugins
if not options.disable_plugins:
static_plugins, online_plugins = roswtf.plugins.load_plugins()
else:
static_plugins, online_plugins = [], []
# - do a ros_root check first and abort if it fails as rest of tests are useless after that
error = ros_root_check(None, ros_root=os.environ['ROS_ROOT'])
if error:
print "ROS_ROOT is invalid: "+str(error)
sys.exit(1)
all_warnings = []
all_errors = []
if launch_files:
ctx = WtfContext.from_roslaunch(launch_files)
#TODO: allow specifying multiple roslaunch files
else:
curr_package = rospkg.get_package_name('.')
if curr_package:
print "Package:",curr_package
ctx = WtfContext.from_package(curr_package)
#TODO: load all .launch files in package
elif os.path.isfile('stack.xml'):
curr_stack = os.path.basename(os.path.abspath('.'))
print "Stack:",curr_stack
ctx = WtfContext.from_stack(curr_stack)
else:
print "No package or stack in context"
ctx = WtfContext.from_env()
if options.all_packages:
print "roswtf will run against all packages"
ctx.pkgs = all_pkgs
# static checks
wtf_check_environment(ctx)
roswtf.network.wtf_check(ctx)
roswtf.packages.wtf_check(ctx)
roswtf.stacks.wtf_check(ctx)
roswtf.roslaunchwtf.wtf_check_static(ctx)
for p in static_plugins:
p(ctx)
print "="*80
print "Static checks summary:\n"
print_results(ctx)
# Save static results and start afresh for online checks
all_warnings.extend(ctx.warnings)
all_errors.extend(ctx.errors)
del ctx.warnings[:]
del ctx.errors[:]
# test online
print "="*80
try:
if options.offline or not ctx.ros_master_uri or invalid_url(ctx.ros_master_uri) or not rosgraph.is_master_online():
online_checks = False
else:
online_checks = True
if online_checks:
online_checks = True
print "Beginning tests of your ROS graph. These may take awhile..."
# online checks
wtf_check_graph(ctx, names=names)
elif names:
# TODO: need to rework this logic
print "\nCannot communicate with master, unable to diagnose [%s]"%(', '.join(names))
return
else:
print "\nROS Master does not appear to be running.\nOnline graph checks will not be run.\nROS_MASTER_URI is [%s]"%(ctx.ros_master_uri)
return
# spin up a roswtf node so we can subscribe to messages
import rospy
rospy.init_node('roswtf', anonymous=True)
online_checks = True
roswtf.roslaunchwtf.wtf_check_online(ctx)
for p in online_plugins:
online_checks = True
p(ctx)
if online_checks:
# done
print "\nOnline checks summary:\n"
print_results(ctx)
except roswtf.context.WtfException, e:
print >> sys.stderr, str(e)
print "\nAborting checks, partial results summary:\n"
print_results(ctx)
def _roswtf_main():
launch_files = names = None
# performance optimization
rospack = rospkg.RosPack()
all_pkgs = rospack.list()
import optparse
parser = optparse.OptionParser(
usage="usage: roswtf [launch file]",
description=
"roswtf is a tool for verifying a ROS installation and running system. Checks provided launchfile if provided, else current stack or package."
)
# #2268
parser.add_option("--all",
dest="all_packages",
default=False,
action="store_true",
help="run roswtf against all packages")
# #2270
parser.add_option("--no-plugins",
dest="disable_plugins",
default=False,
action="store_true",
help="disable roswtf plugins")
parser.add_option("--offline",
dest="offline",
default=False,
action="store_true",
help="only run offline tests")
#TODO: --all-pkgs option
options, args = parser.parse_args()
if args:
launch_files = args
if 0:
# disable names for now as don't have any rules yet
launch_files = [a for a in args if os.path.isfile(a)]
names = [a for a in args if not a in launch_files]
names = [
rosgraph.names.script_resolve_name('/roswtf', n) for n in names
]
from roswtf.context import WtfContext
from roswtf.environment import wtf_check_environment, invalid_url, ros_root_check
from roswtf.graph import wtf_check_graph
import roswtf.rosdep_db
import roswtf.py_pip_deb_checks
import roswtf.network
import roswtf.packages
import roswtf.roslaunchwtf
import roswtf.stacks
import roswtf.plugins
if not options.disable_plugins:
static_plugins, online_plugins = roswtf.plugins.load_plugins()
else:
static_plugins, online_plugins = [], []
# - do a ros_root check first and abort if it fails as rest of tests are useless after that
error = ros_root_check(None, ros_root=os.environ['ROS_ROOT'])
if error:
print("ROS_ROOT is invalid: " + str(error))
sys.exit(1)
all_warnings = []
all_errors = []
if launch_files:
ctx = WtfContext.from_roslaunch(launch_files)
#TODO: allow specifying multiple roslaunch files
else:
curr_package = rospkg.get_package_name('.')
if curr_package:
print("Package:", curr_package)
ctx = WtfContext.from_package(curr_package)
#TODO: load all .launch files in package
elif os.path.isfile('stack.xml'):
curr_stack = os.path.basename(os.path.abspath('.'))
print("Stack:", curr_stack)
ctx = WtfContext.from_stack(curr_stack)
else:
print("No package or stack in context")
ctx = WtfContext.from_env()
if options.all_packages:
print("roswtf will run against all packages")
ctx.pkgs = all_pkgs
# static checks
wtf_check_environment(ctx)
roswtf.rosdep_db.wtf_check(ctx)
roswtf.py_pip_deb_checks.wtf_check(ctx)
roswtf.network.wtf_check(ctx)
roswtf.packages.wtf_check(ctx)
roswtf.stacks.wtf_check(ctx)
roswtf.roslaunchwtf.wtf_check_static(ctx)
for p in static_plugins:
p(ctx)
print("=" * 80)
print("Static checks summary:\n")
print_results(ctx)
# Save static results and start afresh for online checks
all_warnings.extend(ctx.warnings)
all_errors.extend(ctx.errors)
del ctx.warnings[:]
del ctx.errors[:]
# test online
print("=" * 80)
try:
if options.offline or not ctx.ros_master_uri or invalid_url(
ctx.ros_master_uri) or not rosgraph.is_master_online():
online_checks = False
else:
online_checks = True
if online_checks:
online_checks = True
print(
"Beginning tests of your ROS graph. These may take awhile...")
# online checks
wtf_check_graph(ctx, names=names)
elif names:
# TODO: need to rework this logic
print("\nCannot communicate with master, unable to diagnose [%s]" %
(', '.join(names)))
return
else:
print(
"\nROS Master does not appear to be running.\nOnline graph checks will not be run.\nROS_MASTER_URI is [%s]"
% (ctx.ros_master_uri))
return
# spin up a roswtf node so we can subscribe to messages
import rospy
rospy.init_node('roswtf', anonymous=True)
online_checks = True
roswtf.roslaunchwtf.wtf_check_online(ctx)
for p in online_plugins:
online_checks = True
p(ctx)
if online_checks:
# done
print("\nOnline checks summary:\n")
print_results(ctx)
except roswtf.context.WtfException as e:
print(str(e), file=sys.stderr)
print("\nAborting checks, partial results summary:\n")
print_results(ctx)
except Exception as e:
traceback.print_exc()
print(str(e), file=sys.stderr)
print("\nAborting checks, partial results summary:\n")
print_results(ctx)