def roslaunch_parse(filename, verbose=False):
""" Take advantage of the roslaunch python package to parse the given file.
"""
logger.info("Parsing {}".format(filename))
config = ROSLaunchConfig()
loader = XmlLoader()
loader.load(filename, config, verbose=verbose)
return config
def test_ROSLaunchParentNode(self):
from roslaunch.server import ROSLaunchParentNode
from roslaunch.server import ChildROSLaunchProcess
from roslaunch.config import ROSLaunchConfig
from roslaunch.pmon import ProcessListener
rosconfig = ROSLaunchConfig()
try:
ROSLaunchParentNode(rosconfig, None)
self.fail("should not allow pm as None")
except:
pass
pmon = self.pmon
n = ROSLaunchParentNode(rosconfig, pmon)
self.assertEquals(rosconfig, n.rosconfig)
self.assertEquals([], n.listeners)
self.assertEquals({}, n.child_processes)
self.assertEquals(n.handler.listeners, n.listeners)
self.assertEquals(n.handler.child_processes, n.child_processes)
# test add listener
self.assertEquals(n.handler.listeners, n.listeners)
l = ProcessListener()
n.add_process_listener(l)
self.assertEquals([l], n.listeners)
self.assertEquals(n.handler.listeners, n.listeners)
# now, lets make some xmlrpc calls against it
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# it's really dangerous for logging when both a parent and a
# child are in the same process, so out of paranoia, clear the
# logging handlers
roslaunch.core.clear_printlog_handlers()
roslaunch.core.clear_printerrlog_handlers()
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_name = 'child-%s' % time.time()
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(child_name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children should be empty
val = self._succeed(s.list_children())
self.assertEquals([], val)
# - register
val = self._succeed(s.register(child_name, child_uri))
self.assertEquals(1, val)
# - list children
val = self._succeed(s.list_children())
self.assertEquals([child_uri], val)
finally:
server.shutdown('test done')
def test_resolve_duplicate_anon():
from roslaunch.config import ROSLaunchConfig
from roslaunch.core import RLException
from roslaunch.xmlloader import XmlLoader
loader = XmlLoader()
config = ROSLaunchConfig()
test_path = os.path.abspath(
os.path.join(os.path.dirname(__file__), '..', 'xml'))
try:
loader.load(
os.path.join(test_path,
'test-substitution-duplicate-anon-names.xml'), config)
assert False, 'loading a launch file with duplicate anon node names should have raised an exception'
except RLException:
pass
def launch(self):
config = ROSLaunchConfig()
loader = XmlLoader()
path = app.getPackagePath(self.app.package)
print "pkgpath", path
print "launchfile", self.app.launch_file
#os.chdir(pkgpath)
fn = os.path.join(path, self.app.launch_file)
try:
loader.load(fn, config)
except:
self.task.status = "error"
#self.manager.app_update.publish(self.task)
self.manager._send_status()
return
self.runner = ROSLaunchRunner(rospy.get_param("/run_id"),
config,
is_core=False)
self.runner.pm.add_process_listener(self)
self.runner.launch()