Package node_manager_fkie :: Module launch_config :: Class LaunchConfig

Class LaunchConfig

PySide.QtCore.QObject --+
                        |
                       LaunchConfig

A class to handle the ROS configuration stored in launch file.

Instance Methods

__init__(self, launch_file, package=None, masteruri=None, argv=[])
Creates the LaunchConfig object.

source code

__del__(self)

source code

on_file_changed(self, file)
callback method, which is called by QtCore.QFileSystemWatcher if the launch file or included files are changed. source code

str

masteruri(self)
Returns the master URI (host) where the node of this config will be started.

source code

roslaunch.ROSLaunchConfig or None

Roscfg(self)
Returns a loaded launch configuration

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str

Filename(self)
Returns an existing path with file name or an empty string.

source code

str

LaunchName(self)
Returns the name of the launch file with extension, e.g.

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str or None

PackageName(self)
Returns the name of the package containing the launch file or None.

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str

interpretPath(self, path, pwd='.')
Tries to determine the path of the included file.

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[str,...]

getIncludedFiles(self, file)
Reads the configuration file and searches for included files.

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load(self, argv)

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[str]

getArgs(self)
Returns: a list with args being used in the roslaunch file.

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dict(robot:dict('type' :str, 'name': str, 'images' : [str], 
      'description': str))

getRobotDescr(self)
Parses the launch file for robots parameter to get the description of the robot. source code

dict(machine : dict(namespace: dict(group:dict('type' : str, 
      'images' : [str], 'description' : str, 'nodes' : [str]))))

getCapabilitiesDesrc(self)
Parses the launch file for capabilities and capability_group parameter and creates dictionary for grouping the nodes. source code

argvToDict(self, argv)

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roslaunch.Node or None

getNode(self, name)
Returns a configuration node for a given node name.

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Class Methods

(name, path)

packageName(cls, dir)
Returns for given directory a tuple of package name and package path or None values.

source code

Instance Variables
	file_changed = `QtCore.Signal(str, str)` a signal to inform the receiver about the changes on launch file or included file.

Method Details

init(self, launch_file, package=None, masteruri=None, argv=[])
(Constructor)

source code

Creates the LaunchConfig object. The launch file will be not loaded on creation, first on request of Roscfg value.

Parameters:

launch_file (str) - The absolute or relative path with the launch file. By using relative path a package must be valid for remote launches.
package (str or None) - the package containing the launch file. If None the launch_file will be used to determine the launch file. No remote launches a possible without a valid package.
masteruri (str or None) - The URL of the ROS master.
argv ([str]) - the list the arguments needed for loading the given launch file

Raises:

roslaunch.XmlParseException - if the launch file can't be found.

on_file_changed(self, file)

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callback method, which is called by QtCore.QFileSystemWatcher if the launch file or included files are changed. In this case LaunchConfig.file_changed signal will be emitted.

masteruri(self)

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Returns the master URI (host) where the node of this config will be started.

Returns: str

Decorators:

@property

Roscfg(self)

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Returns a loaded launch configuration

Returns: roslaunch.ROSLaunchConfig or None

Decorators:

@property

Raises:

LaunchConfigException - on load error @see load()

Filename(self)

source code

Returns an existing path with file name or an empty string.

Returns: str

Decorators:

@property

LaunchName(self)

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Returns the name of the launch file with extension, e.g. 'test.launch'

Returns: str

Decorators:

@property

PackageName(self)

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Returns the name of the package containing the launch file or None.

Returns: str or None

Decorators:

@property

interpretPath(self, path, pwd='.')

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Tries to determine the path of the included file. The statement of $(find 'package') will be resolved.

Parameters:

path (str) - the sting which contains the included path
pwd (str) - current working path

Returns: str

if no leading os.sep is detected, the path set by setCurrentPath() will be prepend. $(find 'package') will be resolved. Otherwise the parameter itself will be returned

getIncludedFiles(self, file)

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Reads the configuration file and searches for included files. This files will be returned in a list.

Returns: [str,...]: the list with all files needed for the configuration

load(self, argv)

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Parameters:

argv ([str] @return True, if the launch file was loaded @rtype boolean) - the list with argv parameter needed to load the launch file. The name and value are separated by :=

Raises:

LaunchConfigException - on load errors

getArgs(self)

source code

Returns: [str]

a list with args being used in the roslaunch file. Only arg tags that are a direct child of <launch> will be returned

Raises:

roslaunch.XmlParseException - on parse errors

getRobotDescr(self)

source code

Parses the launch file for robots parameter to get the description of the robot.

Returns: dict(robot:dict('type' :str, 'name': str, 'images' : [str], 'description': str)): the robot description stored in the configuration

getCapabilitiesDesrc(self)

source code

Parses the launch file for capabilities and capability_group parameter and creates dictionary for grouping the nodes.

Returns: dict(machine : dict(namespace: dict(group:dict('type' : str, 'images' : [str], 'description' : str, 'nodes' : [str])))): the capabilities description stored in this configuration

getNode(self, name)

source code

Returns a configuration node for a given node name.

Parameters:

name (str) - the name of the node.

Returns: roslaunch.Node or None

the configuration node stored in this configuration

Instance Variable Details

file_changed

a signal to inform the receiver about the changes on launch file or included file. Parameter: (changed file, launch file)

Value:

QtCore.Signal(str, str)

Class LaunchConfig

__init__(self, launch_file, package=None, masteruri=None, argv=[]) (Constructor)

on_file_changed(self, file)

masteruri(self)

Roscfg(self)

Filename(self)

LaunchName(self)

PackageName(self)

interpretPath(self, path, pwd='.')

getIncludedFiles(self, file)

load(self, argv)

getArgs(self)

getRobotDescr(self)

getCapabilitiesDesrc(self)

getNode(self, name)

file_changed

init(self, launch_file, package=None, masteruri=None, argv=[])
(Constructor)