roslaunch.rlutil

1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2009, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 35 """ 36 Uncategorized utility routines for roslaunch. 37 38 This API should not be considered stable. 39 """ 40 41 import os 42 import time 43 44 from roslib.names import SEP 45 46 import roslaunch.core 47 import roslaunch.config 48 import roslaunch.depends 49 import roslaunch.xmlloader 50 51 from rosmaster import DEFAULT_MASTER_PORT 52

53 -def check_log_disk_usage():

54 """ 55 Check size of log directory. If high, print warning to user 56 """ 57 try: 58 import rosclean 59 import roslib.rosenv 60 d = roslib.rosenv.get_log_dir() 61 roslaunch.core.printlog("Checking log directory for disk usage. This may take awhile.\nPress Ctrl-C to interrupt") 62 disk_usage = rosclean.get_disk_usage(d) 63 # warn if over a gig 64 if disk_usage > 1073741824: 65 roslaunch.core.printerrlog("WARNING: disk usage in log directory [%s] is over 1GB.\nIt's recommended that you use the 'rosclean' command."%d) 66 else: 67 roslaunch.core.printlog("Done checking log file disk usage. Usage is <1GB.") 68 except: 69 pass

70

71 -def resolve_launch_arguments(args):

72 """ 73 Resolve command-line args to roslaunch filenames. 74 @return: resolved filenames 75 @rtype: [str] 76 """ 77 import roslib.packages 78 import roslib.scriptutil 79 80 # strip remapping args for processing 81 args = roslib.scriptutil.myargv(args) 82 83 # user can either specify: 84 # - filename + launch args 85 # - package + relative-filename + launch args 86 if not args: 87 return args 88 resolved_args = None 89 top = args[0] 90 if os.path.isfile(top): 91 resolved_args = [top] + args[1:] 92 elif len(args) == 1: 93 raise roslaunch.core.RLException("[%s] does not exist. please specify a package and launch file"%(top)) 94 else: 95 try: 96 resolved = roslib.packages.find_resource(top, args[1]) 97 if len(resolved) == 1: 98 resolved = resolved[0] 99 elif len(resolved) > 1: 100 raise roslaunch.core.RLException("multiple files named [%s] in package [%s].\nPlease specify full path instead"%(args[1], top)) 101 except roslib.packages.InvalidROSPkgException, e: 102 raise roslaunch.core.RLException("[%s] is not a package or launch file name"%top) 103 if not resolved: 104 raise roslaunch.core.RLException("cannot locate [%s] in package [%s]"%(args[1], top)) 105 else: 106 resolved_args = [resolved] + args[2:] 107 return resolved_args

108

109 -def _wait_for_master():

110 """ 111 Block until ROS Master is online 112 113 @raise RuntimeError: if unexpected error occurs 114 """ 115 m = roslaunch.core.Master() # get a handle to the default master 116 is_running = m.is_running() 117 if not is_running: 118 roslaunch.core.printlog("roscore/master is not yet running, will wait for it to start") 119 while not is_running: 120 time.sleep(0.1) 121 is_running = m.is_running() 122 if is_running: 123 roslaunch.core.printlog("master has started, initiating launch") 124 else: 125 raise RuntimeError("unknown error waiting for master to start")

126 127 _terminal_name = None 128

129 -def _set_terminal(s):

130 import platform 131 if platform.system() in ['FreeBSD', 'Linux', 'Darwin', 'Unix']: 132 try: 133 print '\033]2;%s\007'%(s) 134 except: 135 pass

136

137 -def update_terminal_name(ros_master_uri):

138 """ 139 append master URI to the terminal name 140 """ 141 if _terminal_name: 142 _set_terminal(_terminal_name + ' ' + ros_master_uri)

143

144 -def change_terminal_name(args, is_core):

145 """ 146 use echo (where available) to change the name of the terminal window 147 """ 148 global _terminal_name 149 _terminal_name = 'roscore' if is_core else ','.join(args) 150 _set_terminal(_terminal_name)

151

152 -def get_or_generate_uuid(options_runid, options_wait_for_master):

153 """ 154 @param options_runid: run_id value from command-line or None 155 @type options_runid: str 156 @param options_wait_for_master: the wait_for_master command 157 option. If this is True, it means that we must retrieve the 158 value from the parameter server and need to avoid any race 159 conditions with the roscore being initialized. 160 @type options_wait_for_master: bool 161 """ 162 import roslib.scriptutil 163 # Three possible sources of the run_id: 164 # 165 # - if we're a child process, we get it from options_runid 166 # - if there's already a roscore running, read from the param server 167 # - generate one if we're running the roscore 168 if options_runid: 169 return options_runid 170 171 # #773: Generate a run_id to use if we launch a master 172 # process. If a master is already running, we'll get the 173 # run_id from it instead 174 param_server = roslib.scriptutil.get_param_server() 175 val = None 176 while val is None: 177 try: 178 code, msg, val = param_server.getParam('/roslaunch', '/run_id') 179 if code == 1: 180 return val 181 else: 182 val = None 183 raise RuntimeError("unknown error communicating with Parameter Server: %s"%msg) 184 except: 185 if not options_wait_for_master: 186 val = roslaunch.core.generate_run_id() 187 return val

188

189 -def check_roslaunch(f):

190 """ 191 Check roslaunch file for errors, returning error message if check fails. This routine 192 is mainly to support rostest's roslaunch_check. 193 194 @param f: roslaunch file name 195 @type f: str 196 @return: error message or None 197 @rtype: str 198 """ 199 try: 200 config = roslaunch.config.load_config_default([f], DEFAULT_MASTER_PORT, verbose=False) 201 except roslaunch.core.RLException as e: 202 return str(e) 203 204 errors = [] 205 # check for missing deps 206 base_pkg, file_deps, missing = roslaunch.depends.roslaunch_deps([f]) 207 for pkg, miss in missing.iteritems(): 208 if miss: 209 errors.append("Missing manifest dependencies: %s/manifest.xml: %s"%(pkg, ', '.join(miss))) 210 211 # load all node defs 212 nodes = [] 213 for filename, rldeps in file_deps.iteritems(): 214 nodes.extend(rldeps.nodes) 215 216 # check for missing packages 217 import roslib.packages 218 for pkg, node_type in nodes: 219 try: 220 roslib.packages.get_pkg_dir(pkg, required=True) 221 except: 222 errors.append("cannot find package [%s] for node [%s]"%(pkg, node_type)) 223 224 # check for missing nodes 225 for pkg, node_type in nodes: 226 try: 227 if not roslib.packages.find_node(pkg, node_type): 228 errors.append("cannot find node [%s] in package [%s]"%(node_type, pkg)) 229 except Exception, e: 230 errors.append("unable to find node [%s/%s]: %s"%(pkg, node_type, str(e))) 231 232 # Check for configuration errors, #2889 233 for err in config.config_errors: 234 errors.append('ROSLaunch config error: %s' % err) 235 236 if errors: 237 return '\n'.join(errors)

238 239

240 -def namespaces_of(name):

241 if name is None: 242 raise ValueError('name') 243 if not isinstance(name, basestring): 244 raise TypeError('name') 245 if not name: 246 return [SEP] 247 248 splits = [x for x in name.split(SEP) if x] 249 return ['/'] + ['/'+SEP.join(splits[:i]) for i in xrange(1, len(splits))]

250

251 -def print_file_list(roslaunch_files):

252 """ 253 @param roslaunch_files: list of launch files to load 254 @type roslaunch_files: str 255 256 @return list of files involved in processing roslaunch_files, including the files themselves. 257 """ 258 from roslaunch.config import load_config_default, get_roscore_filename 259 try: 260 loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 261 config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 262 files = [os.path.abspath(x) for x in set(config.roslaunch_files) - set([get_roscore_filename()])] 263 print '\n'.join(files) 264 except roslaunch.core.RLException as e: 265 print >> sys.stderr, str(e) 266 sys.exit(1)

267

Source Code for Module roslaunch.rlutil