roslauncher.py

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#!/usr/bin/env python

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##\brief Kevin Watts and Ken Conley

import roslib
roslib.load_manifest('continuous_ops_task_manager')

import roslaunch
import roslaunch.core
import roslaunch.parent
import roslaunch.pmon
import roslaunch.config

import rospy



# Hot patch to shut down XmlRpcNode properly, #4739
##@todo Wait until roslib is patched with ROS r11219 to remove this
import roslib.xmlrpc
def my_shutdown(self, reason):
    """
    Terminate i/o connections for this server.
    @param reason: human-readable debug string
    @type  reason: str
    """
    if self.server:
        server = self.server
        handler = self.handler
        self.handler = self.server = self.port = self.uri = None
        if handler:
            handler._shutdown(reason)
        if server:
            server.socket.close()
            server.server_close()

## ScriptRoslaunch is a specialization of the roslaunch parent for
## using the roslaunch API. It allows registration of a process listener with
## the launched parent and also overrides the default roslaunch config
## initialiation in order to load from strings instead of files.
class ScriptRoslaunch(roslaunch.parent.ROSLaunchParent):

    ## @param self
    ## @param launch_str str: roslaunch XML config (as a string, not a
    ## file path)
    ## @param process_listener (optional): process listener to
    ## register with roslaunch
    def __init__(self, launch_str, process_listener=None):
        roslib.xmlrpc.XmlRpcNode.shutdown = my_shutdown

        self.launch_strs = [launch_str]
        # use run_id from parent
        run_id = rospy.get_param('/run_id')
        if process_listener:
            process_listeners = [process_listener]
        else:
            process_listeners = []
        super(ScriptRoslaunch, self).__init__(run_id, [], process_listeners=process_listeners)
        
    def _load_config(self):
        self.config = roslaunch.config.load_config_default([], self.port,
                                          roslaunch_strs=self.launch_strs)
    
def launch_core():
    # Launch the core, generate the run_id

    # in the future this may need a rewrite as roslaunch gets the
    # ability to remotely launch cores, but for now this is fine
    config = roslaunch.ROSLaunchConfig()
    config.master.auto = config.master.AUTO_START
        
    run_id = roslaunch.core.generate_run_id()
    core_launcher = roslaunch.ROSLaunchRunner(run_id, config)
    core_launcher.launch()
    
    return core_launcher