node_manager_fkie.start

91 ''' 92 This class contains the methods to run the nodes on local and remote machines 93 in a screen terminal. 94 ''' 95

96 - def __init__(self):

97 pass

98 99 @classmethod

100 - def runNode(cls, runcfg):

101 ''' 102 Start the node with given name from the given configuration. 103 @param runcfg: the configuration containing the start parameter 104 @type runcfg: AdvRunCfg 105 @raise StartException: if the screen is not available on host. 106 @raise Exception: on errors while resolving host 107 @see: L{node_manager_fkie.is_local()} 108 ''' 109 # 'print "RUN node", node, time.time() 110 n = runcfg.roslaunch_config.getNode(runcfg.node) 111 if n is None: 112 raise StartException(''.join(["Node '", runcfg.node, "' not found!"])) 113 114 env = list(n.env_args) 115 # set logging options 116 if runcfg.logging is not None: 117 if not runcfg.logging.is_default('console_format'): 118 env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format)) 119 if n.respawn: 120 # set the respawn environment variables 121 respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params) 122 if respawn_params['max'] > 0: 123 env.append(('RESPAWN_MAX', '%d' % respawn_params['max'])) 124 if respawn_params['min_runtime'] > 0: 125 env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime'])) 126 if respawn_params['delay'] > 0: 127 env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay'])) 128 prefix = n.launch_prefix if n.launch_prefix is not None else '' 129 if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1: 130 rospy.loginfo("SCREEN prefix removed before start!") 131 prefix = '' 132 args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name] 133 if n.cwd is not None: 134 args.append('__cwd:=%s' % n.cwd) 135 136 # add remaps 137 for remap in n.remap_args: 138 args.append(''.join([remap[0], ':=', remap[1]])) 139 140 # get host of the node 141 host = runcfg.roslaunch_config.hostname 142 env_loader = '' 143 if n.machine_name: 144 machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name] 145 if machine.address not in ['localhost', '127.0.0.1']: 146 host = machine.address 147 if runcfg.masteruri is None: 148 runcfg.masteruri = nm.nameres().masteruri(n.machine_name) 149 # TODO: env-loader support? 150 # if hasattr(machine, "env_loader") and machine.env_loader: 151 # env_loader = machine.env_loader 152 # set the host to the given host 153 if runcfg.force2host is not None: 154 host = runcfg.force2host 155 156 # set the ROS_MASTER_URI 157 if runcfg.masteruri is None: 158 runcfg.masteruri = masteruri_from_ros() 159 env.append(('ROS_MASTER_URI', runcfg.masteruri)) 160 ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri) 161 if ros_hostname: 162 env.append(('ROS_HOSTNAME', ros_hostname)) 163 164 abs_paths = list() # tuples of (parameter name, old value, new value) 165 not_found_packages = list() # package names 166 # set the global parameter 167 if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done: 168 global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg) 169 rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s" % (str(v)[:80], '...' if len(str(v)) > 80 else'') for v in global_node_names.values())) 170 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request) 171 runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri) 172 173 # add params 174 if runcfg.masteruri is not None: 175 nodens = ''.join([n.namespace, n.name, rospy.names.SEP]) 176 params = dict() 177 for param, value in runcfg.roslaunch_config.Roscfg.params.items(): 178 if param.startswith(nodens): 179 params[param] = value 180 clear_params = [] 181 for cparam in runcfg.roslaunch_config.Roscfg.clear_params: 182 if cparam.startswith(nodens): 183 clear_params.append(cparam) 184 rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params)) 185 rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (str(v)[:80], '...' if len(str(v)) > 80 else'') for v in params.values())) 186 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request) 187 # 'print "RUN prepared", node, time.time() 188 189 if nm.is_local(host, wait=True): 190 nm.screen().testScreen() 191 if runcfg.executable: 192 cmd_type = runcfg.executable 193 else: 194 try: 195 cmd = roslib.packages.find_node(n.package, n.type) 196 except (Exception, roslib.packages.ROSPkgException) as starterr: 197 # multiple nodes, invalid package 198 raise StartException("Can't find resource: %s" % starterr) 199 # handle diferent result types str or array of string 200 if isinstance(cmd, types.StringTypes): 201 cmd = [cmd] 202 cmd_type = '' 203 if cmd is None or len(cmd) == 0: 204 raise StartException("%s in package [%s] not found!\n\nThe package " 205 "was created?\nIs the binary executable?\n" % (n.type, n.package)) 206 if len(cmd) > 1: 207 if runcfg.auto_pw_request: 208 # Open selection for executables, only if the method is called from the main GUI thread 209 try: 210 try: 211 from python_qt_binding.QtGui import QInputDialog 212 except: 213 from python_qt_binding.QtWidgets import QInputDialog 214 item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package), 215 'Select an executable', 216 cmd, 0, False) 217 if result: 218 # open the selected screen 219 cmd_type = item 220 else: 221 return 222 except: 223 raise StartException('Multiple executables with same name in package found!') 224 else: 225 err = BinarySelectionRequest(cmd, 'Multiple executables') 226 raise nm.InteractionNeededError(err, cls.runNode, 227 (runcfg,)) 228 else: 229 cmd_type = cmd[0] 230 # determine the current working path, Default: the package of the node 231 cwd = get_ros_home() 232 if not (n.cwd is None): 233 if n.cwd == 'ROS_HOME': 234 cwd = get_ros_home() 235 elif n.cwd == 'node': 236 cwd = os.path.dirname(cmd_type) 237 cls._prepareROSMaster(runcfg.masteruri) 238 node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type] 239 cmd_args = [nm.screen().getSceenCmd(runcfg.node)] 240 cmd_args[len(cmd_args):] = node_cmd 241 cmd_args.append(str(n.args)) 242 cmd_args[len(cmd_args):] = args 243 rospy.loginfo("RUN: %s", ' '.join(cmd_args)) 244 new_env = dict(os.environ) 245 new_env['ROS_MASTER_URI'] = runcfg.masteruri 246 ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri) 247 if ros_hostname: 248 new_env['ROS_HOSTNAME'] = ros_hostname 249 # add the namespace environment parameter to handle some cases, 250 # e.g. rqt_cpp plugins 251 if n.namespace: 252 new_env['ROS_NAMESPACE'] = n.namespace 253 # set logging options 254 if runcfg.logging is not None: 255 if not runcfg.logging.is_default('loglevel'): 256 env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package))) 257 for key, value in env: 258 new_env[key] = value 259 SupervisedPopen(shlex.split(str(' '.join(cmd_args))), cwd=cwd, 260 env=new_env, object_id="Run node", description="Run node " 261 "[%s]%s" % (str(n.package), str(n.type))) 262 nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename) 263 else: 264 # 'print "RUN REMOTE", node, time.time() 265 # start remote 266 if runcfg.roslaunch_config.PackageName is None: 267 raise StartException("Can't run remote without a valid package name!") 268 # thus the prefix parameters while the transfer are not separated 269 if prefix: 270 prefix = ''.join(['"', prefix, '"']) 271 # setup environment 272 env_command = '' 273 if env_loader: 274 rospy.logwarn("env_loader in machine tag currently not supported") 275 raise StartException("env_loader in machine tag currently not supported") 276 if env: 277 new_env = dict() 278 try: 279 for (k, v) in env: 280 v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request) 281 new_env[k] = v_value 282 if is_abs_path: 283 abs_paths.append(('ENV', "%s=%s" % (k, v), "%s=%s" % (k, v_value))) 284 if not found and package: 285 not_found_packages.append(package) 286 env_command = "env " + ' '.join(["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()]) 287 except nm.AuthenticationRequest as e: 288 raise nm.InteractionNeededError(e, cls.runNode, (runcfg,)) 289 290 startcmd = [env_command, nm.settings().start_remote_script, 291 '--package', str(n.package), 292 '--node_type', str(n.type), 293 '--node_name', str(runcfg.node), 294 '--node_respawn true' if n.respawn else ''] 295 if runcfg.masteruri is not None: 296 startcmd.append('--masteruri') 297 startcmd.append(runcfg.masteruri) 298 if prefix: 299 startcmd[len(startcmd):] = ['--prefix', prefix] 300 if runcfg.logging is not None: 301 if not runcfg.logging.is_default('loglevel'): 302 startcmd.append('--loglevel') 303 startcmd.append(nm.settings().logging.loglevel) 304 305 # rename the absolute paths in the args of the node 306 node_args = [] 307 try: 308 for a in n.args.split(): 309 a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request) 310 node_args.append(a_value) 311 if is_abs_path: 312 abs_paths.append(('ARGS', a, a_value)) 313 if not found and package: 314 not_found_packages.append(package) 315 316 startcmd[len(startcmd):] = node_args 317 startcmd[len(startcmd):] = args 318 rospy.loginfo("Run remote on %s: %s", host, str(' '.join(startcmd))) 319 # 'print "RUN CALL", node, time.time() 320 _, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True) 321 output = stdout.read() 322 error = stderr.read() 323 stdout.close() 324 stderr.close() 325 # 'print "RUN CALLOK", node, time.time() 326 except nm.AuthenticationRequest as e: 327 raise nm.InteractionNeededError(e, cls.runNode, (runcfg,)) 328 329 if ok: 330 if error: 331 rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error) 332 raise StartException(str(''.join(['The host "', host, '" reports:\n', error]))) 333 if output: 334 rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output) 335 # inform about absolute paths in parameter value 336 if len(abs_paths) > 0: 337 rospy.loginfo("Absolute paths found while start:\n%s", str('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths]))) 338 339 if len(not_found_packages) > 0: 340 packages = '\n'.join(not_found_packages) 341 raise StartException(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))

342 # if len(abs_paths) > 0: 343 # parameters = '\n'.join(abs_paths) 344 # raise nm.StartException(str('\n'.join(['Following parameter seems to use an absolute local path for remote host:', parameters, 'Use "cwd" attribute of the "node" tag to specify relative paths for remote usage!']))) 345 # 'print "RUN OK", node, time.time() 346 347 @classmethod

348 - def _get_respawn_params(cls, node, params):

349 result = {'max': 0, 'min_runtime': 0, 'delay': 0} 350 respawn_max = rospy.names.ns_join(node, 'respawn/max') 351 respawn_min_runtime = rospy.names.ns_join(node, 'respawn/min_runtime') 352 respawn_delay = rospy.names.ns_join(node, 'respawn/delay') 353 try: 354 result['max'] = int(params[respawn_max].value) 355 except: 356 pass 357 try: 358 result['min_runtime'] = int(params[respawn_min_runtime].value) 359 except: 360 pass 361 try: 362 result['delay'] = int(params[respawn_delay].value) 363 except: 364 pass 365 return result

366 367 @classmethod

368 - def _load_parameters(cls, masteruri, params, clear_params, user, pw, auto_pw_request):

369 """ 370 Load parameters onto the parameter server 371 """ 372 import roslaunch 373 import roslaunch.launch 374 param_server = xmlrpclib.ServerProxy(masteruri) 375 p = None 376 abs_paths = list() # tuples of (parameter name, old value, new value) 377 not_found_packages = list() # packages names 378 param_errors = [] 379 try: 380 socket.setdefaulttimeout(6 + len(clear_params)) 381 # multi-call style xmlrpc 382 param_server_multi = xmlrpclib.MultiCall(param_server) 383 384 # clear specified parameter namespaces 385 # #2468 unify clear params to prevent error 386 for p in clear_params: 387 param_server_multi.deleteParam(rospy.get_name(), p) 388 r = param_server_multi() 389 for code, msg, _ in r: 390 if code != 1 and not msg.find("is not set"): 391 rospy.logwarn("Failed to clear parameter: %s", msg) 392 # raise StartException("Failed to clear parameter: %s"%(msg)) 393 394 # multi-call objects are not reusable 395 socket.setdefaulttimeout(6 + len(params)) 396 param_server_multi = xmlrpclib.MultiCall(param_server) 397 for p in params.itervalues(): 398 # suppressing this as it causes too much spam 399 value, is_abs_path, found, package = cls._resolve_abs_paths(p.value, nm.nameres().address(masteruri), user, pw, auto_pw_request) 400 if is_abs_path: 401 abs_paths.append((p.key, p.value, value)) 402 if not found and package: 403 not_found_packages.append(package) 404 # if p.value is None: 405 # rospy.logwarn("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 406 # raise StartException("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 407 param_server_multi.setParam(rospy.get_name(), p.key, value if is_abs_path else p.value) 408 test_ret = cls._test_value(p.key, value if is_abs_path else p.value) 409 if test_ret: 410 param_errors.extend(test_ret) 411 r = param_server_multi() 412 for code, msg, _ in r: 413 if code != 1: 414 raise StartException("Failed to set parameter: %s" % (msg)) 415 except roslaunch.core.RLException, e: 416 raise StartException(e) 417 except Exception as e: 418 raise StartException("Failed to set parameter. ROS Parameter Server " 419 "reports: %s\n\n%s" % (e, '\n'.join(param_errors))) 420 finally: 421 socket.setdefaulttimeout(None) 422 return abs_paths, not_found_packages

423 424 @classmethod

425 - def _test_value(cls, key, value):

426 result = [] 427 if value is None: 428 msg = "Invalid parameter value of '%s': '%s'" % (key, value) 429 result.append(msg) 430 rospy.logwarn(msg) 431 elif isinstance(value, list): 432 for val in value: 433 ret = cls._test_value(key, val) 434 if ret: 435 result.extend(ret) 436 elif isinstance(value, dict): 437 for subkey, val in value.items(): 438 ret = cls._test_value("%s/%s" % (key, subkey), val) 439 if ret: 440 result.extend(ret) 441 return result

442 443 @classmethod

444 - def _resolve_abs_paths(cls, value, host, user, pw, auto_pw_request):

445 ''' 446 Replaces the local absolute path by remote absolute path. Only valid ROS 447 package paths are resolved. 448 @return: value, is absolute path, remote package found (ignore it on local host or if is not absolute path!), package name (if absolute path and remote package NOT found) 449 ''' 450 if isinstance(value, types.StringTypes) and value.startswith('/') and (os.path.isfile(value) or os.path.isdir(value)): 451 if nm.is_local(host): 452 return value, True, True, '' 453 else: 454 path = os.path.dirname(value) if os.path.isfile(value) else value 455 package, package_path = package_name(path) 456 if package: 457 _, stdout, _, ok = nm.ssh().ssh_exec(host, ['rospack', 'find', package], user, pw, auto_pw_request, close_stdin=True, close_stderr=True) 458 output = stdout.read() 459 stdout.close() 460 if ok: 461 if output: 462 value.replace(package_path, output) 463 return value.replace(package_path, output.strip()), True, True, package 464 else: 465 # package on remote host not found! 466 # TODO add error message 467 # error = stderr.read() 468 pass 469 return value, True, False, '' 470 else: 471 return value, False, False, ''

472 473 @classmethod

474 - def runNodeWithoutConfig(cls, host, package, binary, name, args=[], masteruri=None, auto_pw_request=False, user=None, pw=None):

475 ''' 476 Start a node with using a launch configuration. 477 @param host: the host or ip to run the node 478 @type host: C{str} 479 @param package: the ROS package containing the binary 480 @type package: C{str} 481 @param binary: the binary of the node to execute 482 @type binary: C{str} 483 @param name: the ROS name of the node (with name space) 484 @type name: C{str} 485 @param args: the list with arguments passed to the binary 486 @type args: C{[str, ...]} 487 @param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread 488 @type auto_pw_request: bool 489 @raise Exception: on errors while resolving host 490 @see: L{node_manager_fkie.is_local()} 491 ''' 492 # create the name with namespace 493 args2 = list(args) 494 fullname = roslib.names.ns_join(roslib.names.SEP, name) 495 namespace = '' 496 for a in args: 497 if a.startswith('__ns:='): 498 namespace = a.replace('__ns:=', '') 499 fullname = roslib.names.ns_join(namespace, name) 500 args2.append(''.join(['__name:=', name])) 501 # run on local host 502 if nm.is_local(host, wait=True): 503 try: 504 cmd = roslib.packages.find_node(package, binary) 505 except roslib.packages.ROSPkgException as e: 506 # multiple nodes, invalid package 507 raise StartException(str(e)) 508 # handle different result types str or array of string 509 # import types 510 if isinstance(cmd, types.StringTypes): 511 cmd = [cmd] 512 cmd_type = '' 513 if cmd is None or len(cmd) == 0: 514 raise StartException('%s in package [%s] not found!' % (binary, package)) 515 if len(cmd) > 1: 516 # Open selection for executables 517 err = [''.join(['Multiple executables with same name in package [', package, '] found:'])] 518 err.extend(cmd) 519 raise StartException('\n'.join(err)) 520 else: 521 cmd_type = cmd[0] 522 cmd_str = str(' '.join([nm.screen().getSceenCmd(fullname), cmd_type, ' '.join(args2)])) 523 rospy.loginfo("Run without config: %s", cmd_str) 524 new_env = dict(os.environ) 525 if namespace: 526 new_env['ROS_NAMESPACE'] = namespace 527 if masteruri is not None: 528 cls._prepareROSMaster(masteruri) 529 new_env['ROS_MASTER_URI'] = masteruri 530 ros_hostname = NameResolution.get_ros_hostname(masteruri) 531 if ros_hostname: 532 new_env['ROS_HOSTNAME'] = ros_hostname 533 SupervisedPopen(shlex.split(cmd_str), env=new_env, object_id="Run without config", description="Run without config [%s]%s" % (str(package), str(binary))) 534 else: 535 # run on a remote machine 536 startcmd = [nm.settings().start_remote_script, 537 '--package', str(package), 538 '--node_type', str(binary), 539 '--node_name', str(fullname)] 540 startcmd[len(startcmd):] = args2 541 if masteruri is not None: 542 startcmd.append('--masteruri') 543 startcmd.append(masteruri) 544 rospy.loginfo("Run remote on %s: %s", host, ' '.join(startcmd)) 545 try: 546 _, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request, close_stdin=True) 547 if ok: 548 output = stdout.read() 549 error = stderr.read() 550 stdout.close() 551 stderr.close() 552 if error: 553 rospy.logwarn("ERROR while start '%s': %s", name, error) 554 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 555 # from python_qt_binding import QtGui 556 # QtGui.QMessageBox.warning(None, 'Error while remote start %s'%str(name), 557 # str(''.join(['The host "', host, '" reports:\n', error])), 558 # QtGui.QMessageBox.Ok) 559 if output: 560 rospy.logdebug("STDOUT while start '%s': %s", name, output) 561 else: 562 if error: 563 rospy.logwarn("ERROR while start '%s': %s", name, error) 564 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 565 except nm.AuthenticationRequest as e: 566 raise nm.InteractionNeededError(e, cls.runNodeWithoutConfig, (host, package, binary, name, args, masteruri, auto_pw_request))

567 568 @classmethod

569 - def _prepareROSMaster(cls, masteruri):

570 if masteruri is None: 571 masteruri = masteruri_from_ros() 572 # start roscore, if needed 573 try: 574 if not os.path.isdir(nm.ScreenHandler.LOG_PATH): 575 os.makedirs(nm.ScreenHandler.LOG_PATH) 576 socket.setdefaulttimeout(3) 577 master = xmlrpclib.ServerProxy(masteruri) 578 master.getUri(rospy.get_name()) 579 # restart ROSCORE on different masteruri?, not now... 580 # master_uri = master.getUri(rospy.get_name()) 581 # if masteruri != master_uri[2]: 582 # # kill the local roscore... 583 # raise 584 except: 585 # run a roscore 586 master_host = get_hostname(masteruri) 587 if nm.is_local(master_host, True): 588 master_port = get_port(masteruri) 589 new_env = dict(os.environ) 590 new_env['ROS_MASTER_URI'] = masteruri 591 ros_hostname = NameResolution.get_ros_hostname(masteruri) 592 if ros_hostname: 593 new_env['ROS_HOSTNAME'] = ros_hostname 594 cmd_args = '%s roscore --port %d' % (nm.ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port) 595 try: 596 SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore") 597 # wait for roscore to avoid connection problems while init_node 598 result = -1 599 count = 1 600 while result == -1 and count < 11: 601 try: 602 master = xmlrpclib.ServerProxy(masteruri) 603 result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg 604 except: 605 time.sleep(1) 606 count += 1 607 if count >= 11: 608 raise StartException('Cannot connect to the ROS-Master: ' + str(masteruri)) 609 except Exception as e: 610 raise Exception("Error while call '%s': %s" % (cmd_args, e)) 611 else: 612 raise Exception("ROS master '%s' is not reachable" % masteruri) 613 finally: 614 socket.setdefaulttimeout(None)

615

616 - def callService(self, service_uri, service, service_type, service_args=[]):

617 ''' 618 Calls the service and return the response. 619 To call the service the ServiceProxy can't be used, because it uses 620 environment variables to determine the URI of the running service. In our 621 case this service can be running using another ROS master. The changes on the 622 environment variables is not thread safe. 623 So the source code of the rospy.SerivceProxy (tcpros_service.py) was modified. 624 625 @param service_uri: the URI of the service 626 @type service_uri: C{str} 627 @param service: full service name (with name space) 628 @type service: C{str} 629 @param service_type: service class 630 @type service_type: ServiceDefinition: service class 631 @param service_args: arguments 632 @return: the tuple of request and response. 633 @rtype: C{(request object, response object)} 634 @raise StartException: on error 635 636 @see: U{rospy.SerivceProxy<http://docs.ros.org/kinetic/api/rospy/html/rospy.impl.tcpros_service.ServiceProxy-class.html>} 637 638 ''' 639 service = str(service) 640 rospy.loginfo("Call service %s[%s]: %s, %s", str(service), str(service_uri), str(service_type), str(service_args)) 641 from rospy.core import parse_rosrpc_uri, is_shutdown 642 # from rospy.msg import args_kwds_to_message 643 from rospy.exceptions import TransportInitError, TransportException 644 from rospy.impl.tcpros_base import TCPROSTransport, DEFAULT_BUFF_SIZE # ,TCPROSTransportProtocol 645 from rospy.impl.tcpros_service import TCPROSServiceClient 646 from rospy.service import ServiceException 647 request = service_type._request_class() 648 import genpy 649 try: 650 now = rospy.get_rostime() 651 import std_msgs.msg 652 keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now)} 653 genpy.message.fill_message_args(request, service_args, keys) 654 except genpy.MessageException as e: 655 def argsummary(args): 656 if type(args) in [tuple, list]: 657 return '\n'.join([' * %s (type %s)' % (a, type(a).__name__) for a in args]) 658 else: 659 return ' * %s (type %s)' % (args, type(args).__name__)

660 raise StartException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]" % (e, argsummary(service_args), genpy.message.get_printable_message_args(request))) 661 662 # request = args_kwds_to_message(type._request_class, args, kwds) 663 protocol = TCPROSServiceClient(service, service_type, headers={}) 664 transport = TCPROSTransport(protocol, service) 665 # initialize transport 666 dest_addr, dest_port = parse_rosrpc_uri(service_uri) 667 # connect to service 668 transport.buff_size = DEFAULT_BUFF_SIZE 669 try: 670 transport.connect(dest_addr, dest_port, service_uri, timeout=5) 671 except TransportInitError as e: 672 # can be a connection or md5sum mismatch 673 raise StartException(''.join(["unable to connect to service: ", str(e)])) 674 transport.send_message(request, 0) 675 try: 676 responses = transport.receive_once() 677 if len(responses) == 0: 678 raise StartException("service [%s] returned no response" % service) 679 elif len(responses) > 1: 680 raise StartException("service [%s] returned multiple responses: %s" % (service, len(responses))) 681 except TransportException as e: 682 # convert lower-level exception to exposed type 683 if is_shutdown(): 684 raise StartException("node shutdown interrupted service call") 685 else: 686 raise StartException("transport error completing service call: %s" % (str(e))) 687 except ServiceException, e: 688 raise StartException("Service error: %s" % (str(e))) 689 finally: 690 transport.close() 691 transport = None 692 return request, responses[0] if len(responses) > 0 else None

Source Code for Module node_manager_fkie.start_handler