roslaunch

1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2008, 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 from __future__ import print_function 36 37 import os 38 import logging 39 import rospkg 40 import sys 41 import traceback 42 43 # monkey-patch to suppress threading error message in Python 2.7.3 44 # see http://stackoverflow.com/questions/13193278/understand-python-threading-bug 45 if sys.version_info[:3] == (2, 7, 3): 46 import threading 47 threading._DummyThread._Thread__stop = lambda _dummy: None 48 49 import rospkg 50 51 from . import core as roslaunch_core 52 from . import param_dump as roslaunch_param_dump 53 54 # symbol exports 55 from .core import Node, Test, Master, RLException 56 from .config import ROSLaunchConfig 57 from .launch import ROSLaunchRunner 58 from .xmlloader import XmlLoader, XmlParseException 59 60 61 # script api 62 from .scriptapi import ROSLaunch 63 from .pmon import Process 64 65 try: 66 from rosmaster import DEFAULT_MASTER_PORT 67 except: 68 DEFAULT_MASTER_PORT = 11311 69 70 from rosmaster.master_api import NUM_WORKERS 71 72 NAME = 'roslaunch' 73

74 -def configure_logging(uuid):

75 """ 76 scripts using roslaunch MUST call configure_logging 77 """ 78 try: 79 import socket 80 import rosgraph.roslogging 81 logfile_basename = os.path.join(uuid, '%s-%s-%s.log'%(NAME, socket.gethostname(), os.getpid())) 82 # additional: names of python packages we depend on that may also be logging 83 logfile_name = rosgraph.roslogging.configure_logging(NAME, filename=logfile_basename) 84 if logfile_name: 85 print("... logging to %s"%logfile_name) 86 87 # add logger to internal roslaunch logging infrastructure 88 logger = logging.getLogger('roslaunch') 89 roslaunch_core.add_printlog_handler(logger.info) 90 roslaunch_core.add_printerrlog_handler(logger.error) 91 except: 92 print("WARNING: unable to configure logging. No log files will be generated", file=sys.stderr)

93

94 -def write_pid_file(options_pid_fn, options_core, port):

95 if options_pid_fn or options_core: 96 # #2987 97 ros_home = rospkg.get_ros_home() 98 if options_pid_fn: 99 pid_fn = os.path.expanduser(options_pid_fn) 100 if os.path.dirname(pid_fn) == ros_home and not os.path.exists(ros_home): 101 os.makedirs(ros_home) 102 else: 103 # NOTE: this assumption is not 100% valid until work on #3097 is complete 104 if port is None: 105 port = DEFAULT_MASTER_PORT 106 pid_fn = os.path.join(ros_home, 'roscore-%s.pid'%(port)) 107 # #3828 108 if not os.path.exists(ros_home): 109 os.makedirs(ros_home) 110 111 with open(pid_fn, "w") as f: 112 f.write(str(os.getpid()))

113

114 -def _get_optparse():

115 from optparse import OptionParser 116 117 usage = "usage: %prog [options] [package] <filename> [arg_name:=value...]\n" 118 usage += " %prog [options] <filename> [<filename>...] [arg_name:=value...]\n\n" 119 usage += "If <filename> is a single dash ('-'), launch XML is read from standard input." 120 parser = OptionParser(usage=usage, prog=NAME) 121 parser.add_option("--files", 122 dest="file_list", default=False, action="store_true", 123 help="Print list files loaded by launch file, including launch file itself") 124 parser.add_option("--args", 125 dest="node_args", default=None, 126 help="Print command-line arguments for node", metavar="NODE_NAME") 127 parser.add_option("--nodes", 128 dest="node_list", default=False, action="store_true", 129 help="Print list of node names in launch file") 130 parser.add_option("--find-node", 131 dest="find_node", default=None, 132 help="Find launch file that node is defined in", metavar="NODE_NAME") 133 parser.add_option("-c", "--child", 134 dest="child_name", default=None, 135 help="Run as child service 'NAME'. Required with -u", metavar="NAME") 136 parser.add_option("--local", 137 dest="local_only", default=False, action="store_true", 138 help="Do not launch remote nodes") 139 # #2370 140 parser.add_option("--screen", 141 dest="force_screen", default=False, action="store_true", 142 help="Force output of all local nodes to screen") 143 parser.add_option("--required", 144 dest="force_required", default=False, action="store_true", 145 help="Force all nodes to be required") 146 parser.add_option("--log", 147 dest="force_log", default=False, action="store_true", 148 help="Force output of all local nodes to log") 149 parser.add_option("-u", "--server_uri", 150 dest="server_uri", default=None, 151 help="URI of server. Required with -c", metavar="URI") 152 parser.add_option("--run_id", 153 dest="run_id", default=None, 154 help="run_id of session. Required with -c", metavar="RUN_ID") 155 # #1254: wait until master comes online before starting 156 parser.add_option("--wait", action="store_true", 157 dest="wait_for_master", default=False, 158 help="wait for master to start before launching") 159 parser.add_option("-p", "--port", 160 dest="port", default=None, 161 help="master port. Only valid if master is launched", metavar="PORT") 162 parser.add_option("--core", action="store_true", 163 dest="core", default=False, 164 help="Launch core services only") 165 parser.add_option("--pid", 166 dest="pid_fn", default="", 167 help="write the roslaunch pid to filename") 168 parser.add_option("-v", action="store_true", 169 dest="verbose", default=False, 170 help="verbose printing") 171 parser.add_option("--no-summary", action="store_true", 172 dest="no_summary", default=False, 173 help="hide summary printing") 174 # 2685 - Dump parameters of launch files 175 parser.add_option("--dump-params", default=False, action="store_true", 176 dest="dump_params", 177 help="Dump parameters of all roslaunch files to stdout") 178 parser.add_option("--skip-log-check", default=False, action="store_true", 179 dest="skip_log_check", 180 help="skip check size of log folder") 181 parser.add_option("--ros-args", default=False, action="store_true", 182 dest="ros_args", 183 help="Display command-line arguments for this launch file") 184 parser.add_option("--disable-title", default=False, action="store_true", 185 dest="disable_title", 186 help="Disable setting of terminal title") 187 parser.add_option("-w", "--numworkers", 188 dest="num_workers", default=NUM_WORKERS, type=int, 189 help="override number of worker threads. Only valid for core services.", metavar="NUM_WORKERS") 190 parser.add_option("-t", "--timeout", 191 dest="timeout", 192 help="override the socket connection timeout (in seconds). Only valid for core services.", metavar="TIMEOUT") 193 parser.add_option("--master-logger-level", 194 dest="master_logger_level", default=False, type=str, 195 help="set rosmaster.master logger level ('debug', 'info', 'warn', 'error', 'fatal')") 196 197 return parser

198

199 -def _validate_args(parser, options, args):

200 # validate args first so we don't spin up any resources 201 if options.child_name: 202 if not options.server_uri: 203 parser.error("--child option requires --server_uri to be set as well") 204 if not options.run_id: 205 parser.error("--child option requires --run_id to be set as well") 206 if options.port: 207 parser.error("port option cannot be used with roslaunch child mode") 208 if args: 209 parser.error("Input files are not allowed when run in child mode") 210 elif options.core: 211 if args: 212 parser.error("Input files are not allowed when launching core") 213 if options.run_id: 214 parser.error("--run_id should only be set for child roslaunches (-c)") 215 216 # we don't actually do anything special for core as the roscore.xml file 217 # is an implicit include for any roslaunch 218 219 elif len(args) == 0: 220 parser.error("you must specify at least one input file") 221 else: 222 missing_files = [f for f in args if not (f == '-' or os.path.exists(f))] 223 if missing_files: 224 parser.error("The following input files do not exist: %s"%', '.join(missing_files)) 225 226 if args.count('-') > 1: 227 parser.error("Only a single instance of the dash ('-') may be specified.") 228 229 if len([x for x in [options.node_list, options.find_node, options.node_args, options.ros_args] if x]) > 1: 230 parser.error("only one of [--nodes, --find-node, --args --ros-args] may be specified")

231

232 -def handle_exception(roslaunch_core, logger, msg, e):

233 roslaunch_core.printerrlog(msg + str(e)) 234 roslaunch_core.printerrlog('The traceback for the exception was written to the log file') 235 if logger: 236 logger.error(traceback.format_exc()) 237 sys.exit(1)

238

239 -def main(argv=sys.argv):

240 options = None 241 logger = None 242 try: 243 from . import rlutil 244 parser = _get_optparse() 245 246 (options, args) = parser.parse_args(argv[1:]) 247 args = rlutil.resolve_launch_arguments(args) 248 _validate_args(parser, options, args) 249 250 # node args doesn't require any roslaunch infrastructure, so process it first 251 if any([options.node_args, options.node_list, options.find_node, options.dump_params, options.file_list, options.ros_args]): 252 if options.node_args and not args: 253 parser.error("please specify a launch file") 254 255 from . import node_args 256 if options.node_args: 257 node_args.print_node_args(options.node_args, args) 258 elif options.find_node: 259 node_args.print_node_filename(options.find_node, args) 260 # Dump parameters, #2685 261 elif options.dump_params: 262 roslaunch_param_dump.dump_params(args) 263 elif options.file_list: 264 rlutil.print_file_list(args) 265 elif options.ros_args: 266 import arg_dump as roslaunch_arg_dump 267 roslaunch_arg_dump.dump_args(args) 268 else: 269 node_args.print_node_list(args) 270 return 271 272 # we have to wait for the master here because we don't have the run_id yet 273 if options.wait_for_master: 274 if options.core: 275 parser.error("--wait cannot be used with roscore") 276 rlutil._wait_for_master() 277 278 # write the pid to a file 279 write_pid_file(options.pid_fn, options.core, options.port) 280 281 # spin up the logging infrastructure. have to wait until we can read options.run_id 282 uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master) 283 configure_logging(uuid) 284 285 # #3088: don't check disk usage on remote machines 286 if not options.child_name and not options.skip_log_check: 287 # #2761 288 rlutil.check_log_disk_usage() 289 290 logger = logging.getLogger('roslaunch') 291 logger.info("roslaunch starting with args %s"%str(argv)) 292 logger.info("roslaunch env is %s"%os.environ) 293 294 if options.child_name: 295 logger.info('starting in child mode') 296 297 # This is a roslaunch child, spin up client server. 298 # client spins up an XML-RPC server that waits for 299 # commands and configuration from the server. 300 from . import child as roslaunch_child 301 c = roslaunch_child.ROSLaunchChild(uuid, options.child_name, options.server_uri) 302 c.run() 303 else: 304 logger.info('starting in server mode') 305 306 # #1491 change terminal name 307 if not options.disable_title: 308 rlutil.change_terminal_name(args, options.core) 309 310 # Read roslaunch string from stdin when - is passed as launch filename. 311 roslaunch_strs = [] 312 if '-' in args: 313 roslaunch_core.printlog("Passed '-' as file argument, attempting to read roslaunch XML from stdin.") 314 roslaunch_strs.append(sys.stdin.read()) 315 roslaunch_core.printlog("... %d bytes read successfully.\n" % len(roslaunch_strs[-1])) 316 args.remove('-') 317 318 # This is a roslaunch parent, spin up parent server and launch processes. 319 # args are the roslaunch files to load 320 from . import parent as roslaunch_parent 321 # force a port binding spec if we are running a core 322 if options.core: 323 options.port = options.port or DEFAULT_MASTER_PORT 324 p = roslaunch_parent.ROSLaunchParent(uuid, args, roslaunch_strs=roslaunch_strs, 325 is_core=options.core, port=options.port, local_only=options.local_only, 326 verbose=options.verbose, force_screen=options.force_screen, 327 force_log=options.force_log, 328 num_workers=options.num_workers, timeout=options.timeout, 329 master_logger_level=options.master_logger_level, 330 show_summary=not options.no_summary, 331 force_required=options.force_required) 332 p.start() 333 p.spin() 334 335 except RLException as e: 336 handle_exception(roslaunch_core, logger, "RLException: ", e) 337 except ValueError as e: 338 # TODO: need to trap better than this high-level trap 339 handle_exception(roslaunch_core, logger, "Value error: ", e) 340 except rospkg.ResourceNotFound as e: 341 handle_exception(roslaunch_core, logger, "Resource not found: ", e) 342 except Exception as e: 343 traceback.print_exc() 344 sys.exit(1) 345 finally: 346 # remove the pid file 347 if options is not None and options.pid_fn: 348 try: os.unlink(options.pid_fn) 349 except os.error: pass

350 351 352 if __name__ == '__main__': 353 main() 354

Source Code for Package roslaunch