def main(argv=sys.argv):
try:
options, args = parse_options(argv)
if args:
if options['show_screen_log']:
logfile = screen.get_logfile(node=options['show_screen_log'])
p = subprocess.Popen(
shlex.split(' '.join(
[nm.Settings.LOG_VIEWER,
str(logfile)])))
p.wait()
elif options['show_ros_log']:
logfile = screen.get_ros_logfile(node=options['show_ros_log'])
p = subprocess.Popen(
shlex.split(' '.join(
[nm.Settings.LOG_VIEWER,
str(logfile)])))
p.wait()
elif options['ros_log_path']:
if options['ros_log_path'] == '[]':
print nm.get_ros_home()
else:
print screen.get_logfile(node=options['ros_log_path'])
elif options['delete_logs']:
logfile = screen.get_logfile(node=options['delete_logs'])
pidfile = screen.get_pidfile(node=options['delete_logs'])
roslog = screen.get_ros_logfile(node=options['delete_logs'])
if os.path.isfile(logfile):
os.remove(logfile)
if os.path.isfile(pidfile):
os.remove(pidfile)
if os.path.isfile(roslog):
os.remove(roslog)
elif options['node_type'] and options['package'] and options[
'node_name']:
runNode(options['package'],
options['node_type'],
options['node_name'],
args,
options['prefix'],
options['node_respawn'],
options['masteruri'],
loglevel=options['loglevel'])
elif options['pidkill']:
import signal
os.kill(int(options['pidkill']), signal.SIGKILL)
elif options['package']:
print roslib.packages.get_pkg_dir(options['package'])
else:
parser = _get_optparse()
parser.print_help()
time.sleep(3)
except Exception, e:
print >> sys.stderr, e
def runNode(package, executable, name, args, prefix='', repawn=False, masteruri=None, loglevel=''):
'''
Runs a ROS node. Starts a roscore if needed.
'''
if not masteruri:
masteruri = masteruri_from_ros()
# start roscore, if needed
nm.StartHandler._prepareROSMaster(masteruri)
# start node
try:
cmd = roslib.packages.find_node(package, executable)
except roslib.packages.ROSPkgException as e:
# multiple nodes, invalid package
raise nm.StartException(str(e))
# handle different result types str or array of string (electric / fuerte)
if isstring(cmd):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise nm.StartException(' '.join([executable, 'in package [', package, '] not found!\n\nThe package was created?\nIs the binary executable?\n']))
# create string for node parameter. Set arguments with spaces into "'".
node_params = ' '.join(''.join(["'", a, "'"]) if a.find(' ') > -1 else a for a in args[1:])
cmd_args = [screen.get_cmd(name), RESPAWN_SCRIPT if repawn else '', prefix, cmd[0], node_params]
print('run on remote host:', ' '.join(cmd_args))
# determine the current working path
arg_cwd = getCwdArg('__cwd', args)
cwd = nm.get_ros_home()
if not (arg_cwd is None):
if arg_cwd == 'ROS_HOME':
cwd = nm.get_ros_home()
elif arg_cwd == 'node':
cwd = os.path.dirname(cmd[0])
# set the masteruri to launch with other one master
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = nmdhost.get_ros_hostname(masteruri)
if ros_hostname:
addr = socket.gethostbyname(ros_hostname)
if addr in set(ip for ip in get_local_addresses()):
new_env['ROS_HOSTNAME'] = ros_hostname
if loglevel:
new_env['ROSCONSOLE_CONFIG_FILE'] = rosconsole_cfg_file(package)
subprocess.Popen(shlex.split(str(' '.join(cmd_args))), cwd=cwd, env=new_env)
if len(cmd) > 1:
rospy.logwarn('Multiple executables are found! The first one was started! Exceutables:\n%s', str(cmd))
def main(argv=sys.argv):
try:
print_help = True
options, args = parse_options(argv)
if options['show_screen_log']:
logfile = screen.get_logfile(node=options['show_screen_log'])
if not logfile:
raise Exception('screen logfile not found for: %s' %
options['show_screen_log'])
cmd = ' '.join([nm.Settings.LOG_VIEWER, str(logfile)])
print(cmd)
p = subprocess.Popen(shlex.split(cmd))
p.wait()
print_help = False
if options['tail_screen_log']:
logfile = screen.get_logfile(node=options['tail_screen_log'])
if not logfile:
raise Exception('screen logfile not found for: %s' %
options['tail_screen_log'])
cmd = ' '.join(['tail', '-f', '-n', '25', str(logfile)])
print(cmd)
p = subprocess.Popen(shlex.split(cmd))
p.wait()
print_help = False
elif options['show_ros_log']:
logfile = screen.get_ros_logfile(node=options['show_ros_log'])
if not logfile:
raise Exception('ros logfile not found for: %s' %
options['show_ros_log'])
cmd = ' '.join([nm.Settings.LOG_VIEWER, str(logfile)])
print(cmd)
p = subprocess.Popen(shlex.split(cmd))
p.wait()
print_help = False
elif options['ros_log_path']:
if options['ros_log_path'] == '[]':
print(nm.get_ros_home())
else:
print(screen.get_logfile(node=options['ros_log_path']))
print_help = False
elif options['delete_logs']:
logfile = screen.get_logfile(node=options['delete_logs'])
pidfile = screen.get_pidfile(node=options['delete_logs'])
roslog = screen.get_ros_logfile(node=options['delete_logs'])
if os.path.isfile(logfile):
os.remove(logfile)
if os.path.isfile(pidfile):
os.remove(pidfile)
if os.path.isfile(roslog):
os.remove(roslog)
print_help = False
elif options['node_type'] and options['package'] and options[
'node_name']:
runNode(options['package'],
options['node_type'],
options['node_name'],
args,
options['prefix'],
options['node_respawn'],
options['masteruri'],
loglevel=options['loglevel'])
print_help = False
elif options['pidkill']:
import signal
os.kill(int(options['pidkill']), signal.SIGKILL)
print_help = False
elif options['package']:
print(roslib.packages.get_pkg_dir(options['package']))
print_help = False
if print_help:
parser = _get_optparse()
parser.print_help()
time.sleep(3)
except Exception as e:
sys.stderr.write("%s\n" % e)