def main(self, *, args):
container = run_standalone_container(
container_node_name=args.container_node_name)
with DirectNode(args) as node:
try:
load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
except RuntimeError as ex:
# In case the component fails to load, kill the container.
print('{}, interrupting container node'.format(ex))
if platform.system() == 'Windows':
container.send_signal(signal.CTRL_C_EVENT)
else:
container.send_signal(signal.SIGINT)
while container.returncode is None:
try:
container.communicate()
except KeyboardInterrupt:
# the subprocess will also receive the signal and should shut down
# therefore we continue here until the process has finished
pass
return container.returncode
def main(self, *, args):
container = run_standalone_container(
container_node_name=args.container_node_name)
with DirectNode(args) as node:
load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
while container.returncode is None:
try:
container.communicate()
except KeyboardInterrupt:
# the subprocess will also receive the signal and should shut down
# therefore we continue here until the process has finished
pass
return container.returncode
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX +
'_component_load_requester')
try:
if args.container_node_name in [
n.full_name for n in container_node_names
]:
return load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
else:
return "Unable to find container node '" + args.container_node_name + "'"
finally:
node.destroy_node()
rclpy.shutdown()
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
component_uid, component_name = load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
if not args.quiet:
print("Loaded component {} into '{}' container node as '{}'".
format(component_uid, args.container_node_name,
component_name))
else:
print('{} {}'.format(component_uid, component_name))