Module nodeprocess

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.
• master_logger_level - rosmaster.master logger debug level
• sigint_timeout (float) - The SIGINT timeout used when killing nodes (in seconds).
• sigterm_timeout (float) - The SIGTERM timeout used when killing nodes if SIGINT does not stop the node (in seconds).
• master_logger_level= (str or False)

Raises:

• RLException - if type_ or port is invalid or sigint_timeout or sigterm_timeout are nonpositive.

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
• sigint_timeout (float) - The SIGINT timeout used when killing nodes (in seconds).
• sigterm_timeout (float) - The SIGTERM timeout used when killing nodes if SIGINT does not stop the node (in seconds).

Returns: LocalProcess

local process instance

Raises:

• NodeParamsException - If the node's parameters are improperly specific
• RLException - If sigint_timeout or sigterm_timeout are nonpositive.