Package roslaunch :: Module parent :: Class ROSLaunchParent
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Class ROSLaunchParent

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object --+
         |
        ROSLaunchParent

ROSLaunchParent represents the main 'parent' roslaunch process. It is responsible for loading the launch files, assigning machines, and then starting up any remote processes. The __main__ method delegates most of runtime to ROSLaunchParent.

This must be called from the Python Main thread due to signal registration.

Instance Methods
 
__init__(self, run_id, roslaunch_files, is_core=False, port=None, local_only=False, process_listeners=None, verbose=False, force_screen=False, force_log=False, is_rostest=False, roslaunch_strs=None, num_workers=3, timeout=None, master_logger_level=False, show_summary=True, force_required=False)
x.__init__(...) initializes x; see help(type(x)) for signature
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start(self, auto_terminate=True)
Run the parent roslaunch.
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spin_once(self)
Run the parent roslaunch event loop once
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spin(self)
Run the parent roslaunch until exit
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shutdown(self)
Stop the parent roslaunch.
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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

Inherited from object: __class__

Method Details

__init__(self, run_id, roslaunch_files, is_core=False, port=None, local_only=False, process_listeners=None, verbose=False, force_screen=False, force_log=False, is_rostest=False, roslaunch_strs=None, num_workers=3, timeout=None, master_logger_level=False, show_summary=True, force_required=False)
(Constructor)

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x.__init__(...) initializes x; see help(type(x)) for signature

Parameters:
  • run_id (str) - UUID of roslaunch session
  • roslaunch_files ([str]) - list of launch configuration files to load
  • is_core (bool), bool - if True, this launch is a roscore instance. This affects the error behavior if a master is already running (i.e. it fails).
  • process_listeners ([roslaunch.pmon.ProcessListener]) - (optional) list of process listeners to register with process monitor once launch is running
  • port (int) - (optional) override master port number from what is specified in the master URI.
  • verbose (boolean) - (optional) print verbose output
  • show_summary (boolean) - (optional) whether to show a summary or not
  • force_screen (boolean) - (optional) force output of all nodes to screen
  • force_log (boolean) - (optional) force output of all nodes to log
  • is_rostest (bool), bool - if True, this launch is a rostest instance. This affects validation checks.
  • num_workers (int) - If this is the core, the number of worker-threads to use.
  • timeout (Float or None @throws RLException) - If this is the core, the socket-timeout to use.
  • master_logger_level (str or False) - Specify roscore's rosmaster.master logger level, use default if it is False.
  • force_required (boolean) - (optional) whether to make all nodes required
Overrides: object.__init__

start(self, auto_terminate=True)

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Run the parent roslaunch.

Parameters:
  • auto_terminate - stop process monitor once there are no more processes to monitor (default True). This defaults to True, which is the command-line behavior of roslaunch. Scripts may wish to set this to False if they wish to keep the roslauch infrastructure up regardless of processes being monitored.