prestartup_caller.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Wraps any executable into prestartup script

PKG = 'qualification'
import roslib; roslib.load_manifest(PKG)

import rospy
import subprocess

from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest

import sys

finish = rospy.ServiceProxy('prestartup_done', ScriptDone)

if __name__ == '__main__':
    rospy.init_node('prestartup_script_caller')
    args = rospy.myargv()

    if len(args) < 3:
        print 'Usage: ./prestartup_caller.py <pkg> <program> <args>'
        rospy.wait_for_service('prestartup_done', 10)
        finish.call(1, 'Usage: ./prestartup_caller.py <program> <args>')
        sys.exit(2)
    
    cmd = "rosrun %s %s " % (args[1], args[2]) 
    if len(args) > 3:
        cmd += " ".join(args[3:])

    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, 
                         stderr=subprocess.PIPE, shell=True)
    stdout, stderr = p.communicate()
    retcode = p.returncode
    
    rospy.wait_for_service('prestartup_done', 10)
    r = ScriptDoneRequest()
    r.result = 1
    r.failure_msg = 'CMD: %s\nReturned: %d\n%s\n%s' % (cmd, retcode, stdout, stderr)
    if retcode == 0:
        r.result = 0
        r.failure_msg = 'CMD: %s' % cmd
        finish.call(r)
    else:
        finish.call(r) 

---

qualification
Author(s): Kevin Watts (watts@willowgarage.com), Josh Faust (jfaust@willowgarage.com)
autogenerated on Fri Jan 11 09:39:12 2013