Package roslaunch :: Module nodeprocess

Module nodeprocess

Local process implementation for running and monitoring nodes.

Classes
	LocalProcess Process launched on local machine

Functions

create_master_process(run_id, type_, ros_root, port, num_workers=3, timeout=None)
Launch a master

source code

LocalProcess

create_node_process(run_id, node, master_uri)
Factory for generating processes for launching local ROS nodes.

source code

Variables
	__package__ = `'roslaunch'`

Function Details

create_master_process(run_id, type_, ros_root, port, num_workers=3, timeout=None)

source code

Launch a master

Parameters:

type_ (str) - name of master executable (currently just Master.ZENMASTER)
ros_root (str) - ROS_ROOT environment setting
port (int) - port to launch master on
num_workers (int) - number of worker threads.
timeout (float) - socket timeout for connections.

Raises:

RLException - if type_ or port is invalid

create_node_process(run_id, node, master_uri)

source code

Factory for generating processes for launching local ROS nodes. Also registers the process with the ProcessMonitor so that events can be generated when the process dies.

Parameters:

run_id (str) - run_id of launch
node (Node) - node to launch. Node name must be assigned.
master_uri (str) - API URI for master node

Returns: LocalProcess

local process instance

Raises:

NodeParamsException - If the node's parameters are improperly specific