roshlaunch.node

1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2009, 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: node_args.py 10269 2010-07-07 00:07:15Z kwc $ 34 35 """ 36 Utility module of roslaunch that computes the command-line arguments 37 for a node. 38 """ 39 40 import logging 41 import os 42 import shlex 43 import sys 44 import time 45 46 import roslib.packages 47 import roslib.rosenv 48 import roslib.substitution_args 49 from roslib.scriptutil import script_resolve_name 50 51 from roslaunch.core import setup_env, local_machine, RLException 52 from roslaunch.config import load_config_default 53 import roslaunch.xmlloader 54

55 -class NodeParamsException(Exception):

56 """ 57 Exception to indicate that node parameters were invalid 58 """ 59 pass

60

61 -def get_node_list(config):

62 """ 63 @param config: roslaunch config 64 @type config: ROSLaunchConfig 65 @return: list of node names in config 66 @rtype: [str] 67 """ 68 l = [_resolved_name(node) for node in config.nodes] + [_resolved_name(test) for test in config.tests] 69 # filter out unnamed nodes 70 return [x for x in l if x]

71

72 -def print_node_list(roslaunch_files):

73 """ 74 Print list of nodes to screen. Will cause system exit if exception 75 occurs. This is a subroutine for the roslaunch main handler. 76 77 @param roslaunch_files: list of launch files to load 78 @type roslaunch_files: str 79 """ 80 try: 81 loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 82 config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 83 node_list = get_node_list(config) 84 print '\n'.join(node_list) 85 except RLException, e: 86 print >> sys.stderr, str(e) 87 sys.exit(1)

88

89 -def print_node_args(node_name, roslaunch_files):

90 """ 91 Print arguments of node to screen. Will cause system exit if 92 exception occurs. This is a subroutine for the roslaunch main 93 handler. 94 95 @param node_name: node name 96 @type node_name: str 97 @param roslaunch_files: list of launch files to load 98 @type roslaunch_files: str 99 """ 100 try: 101 node_name = script_resolve_name('roslaunch', node_name) 102 args = get_node_args(node_name, roslaunch_files) 103 print ' '.join(args) 104 except RLException, e: 105 print >> sys.stderr, str(e) 106 sys.exit(1)

107

108 -def _resolved_name(node):

109 if node.name: 110 # $(anon id) passthrough 111 if node.name.startswith('$'): 112 return node.name 113 else: 114 return roslib.names.ns_join(node.namespace, node.name) 115 else: 116 return None

117

118 -def print_node_filename(node_name, roslaunch_files):

119 try: 120 # #2309 121 node_name = script_resolve_name('roslaunch', node_name) 122 123 loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 124 config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 125 nodes = [n for n in config.nodes if _resolved_name(n) == node_name] + \ 126 [t for t in config.tests if _resolved_name(t) == node_name] 127 128 if len(nodes) > 1: 129 raise RLException("ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."%(node_name, ', '.join(roslaunch_files))) 130 if not nodes: 131 print >> sys.stderr, 'ERROR: cannot find node named [%s]. Run \n\troslaunch --nodes <files>\nto see list of node names.'%(node_name) 132 else: 133 print nodes[0].filename 134 135 except RLException, e: 136 print >> sys.stderr, str(e) 137 sys.exit(1)

138

139 -def get_node_args(node_name, roslaunch_files):

140 """ 141 Get the node arguments for a node in roslaunch_files. 142 143 @param node_name: name of node in roslaunch_files. 144 @type node_name: str 145 @param roslaunch_files: roslaunch file names 146 @type roslaunch_files: [str] 147 @return: list of command-line arguments used to launch node_name 148 @rtype: [str] 149 @raise RLException: if node args cannot be retrieved 150 """ 151 152 # we have to create our own XmlLoader so that we can use the same 153 # resolution context for substitution args 154 155 loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 156 config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 157 (node_name) = roslib.substitution_args.resolve_args((node_name), resolve_anon=False) 158 node_name = script_resolve_name('roslaunch', node_name) if not node_name.startswith('$') else node_name 159 160 node = [n for n in config.nodes if _resolved_name(n) == node_name] + \ 161 [n for n in config.tests if _resolved_name(n) == node_name] 162 if not node: 163 node_list = get_node_list(config) 164 node_list_str = '\n'.join([" * %s"%x for x in node_list]) 165 raise RLException("ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"%(node_name, ', '.join(roslaunch_files), node_list_str)) 166 elif len(node) > 1: 167 raise RLException("ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."%(node_name, ', '.join(roslaunch_files))) 168 node = node[0] 169 170 master_uri = roslib.rosenv.get_master_uri() 171 machine = local_machine() 172 173 # don't use create_local_process_env, which merges the env with the full env of the shell 174 env = setup_env(node, machine, master_uri) 175 to_remove = [] 176 for k in env.iterkeys(): 177 if env[k] == os.environ.get(k, None): 178 to_remove.append(k) 179 for k in to_remove: 180 del env[k] 181 182 # resolve node name for generating args 183 args = create_local_process_args(node, machine) 184 # join environment vars are bash prefix args 185 return ["%s=%s"%(k, v) for k, v in env.iteritems()] + args

186

187 -def create_local_process_env(node, machine, master_uri, env=os.environ):

188 """ 189 Setup environment for locally launched process. The local 190 environment includes the default os environment, with any 191 ROS-specific environment variables overriding this enviornment. 192 @return: environment variables 193 @rtype: dict 194 """ 195 196 # #1029: generate environment for the node. unset 197 # #ROS-related environment vars before 198 # update() so that extra environment variables don't end 199 # up in the call. 200 full_env = env.copy() 201 202 for evar in [ 203 roslib.rosenv.ROS_MASTER_URI, 204 roslib.rosenv.ROS_ROOT, 205 roslib.rosenv.ROS_PACKAGE_PATH, 206 roslib.rosenv.ROS_IP, 207 'PYTHONPATH', 208 roslib.rosenv.ROS_NAMESPACE]: 209 if evar in full_env: 210 del full_env[evar] 211 212 proc_env = setup_env(node, machine, master_uri) 213 214 # #2372: add ROS_ROOT/bin to path if it is not present 215 rosroot_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin') 216 path = os.environ.get('PATH', '') 217 if not rosroot_bin in path.split(os.pathsep): 218 proc_env['PATH'] = path + os.pathsep + rosroot_bin 219 220 full_env.update(proc_env) 221 return full_env

222

223 -def _launch_prefix_args(node):

224 if node.launch_prefix: 225 prefix = node.launch_prefix 226 if type(prefix) == unicode: 227 prefix = prefix.encode('UTF-8') 228 return shlex.split(prefix) 229 else: 230 return []

231

232 -def create_local_process_args(node, machine):

233 """ 234 Subroutine for creating node arguments. 235 @return: arguments for node process 236 @rtype: [str] 237 @raise NodeParamsException: if args cannot be constructed for Node 238 as specified (e.g. the node type does not exist) 239 """ 240 if not node.name: 241 raise ValueError("node name must be defined") 242 243 # - Construct rosrun command 244 remap_args = ["%s:=%s"%(src,dst) for src, dst in node.remap_args] 245 resolve_dict = {} 246 247 #resolve args evaluates substitution commands 248 #shlex parses a command string into a list of args 249 # - for the local process args, we *do* resolve the anon tag so that the user can execute 250 # - the node name and args must be resolved together in case the args refer to the anon node name 251 (node_name) = roslib.substitution_args.resolve_args((node.name), context=resolve_dict, resolve_anon=True) 252 node.name = node_name 253 remap_args.append('__name:=%s'%node_name) 254 255 resolved = roslib.substitution_args.resolve_args(node.args, context=resolve_dict, resolve_anon=True) 256 if type(resolved) == unicode: 257 resolved = resolved.encode('UTF-8') #attempt to force to string for shlex/subprocess 258 args = shlex.split(resolved) + remap_args 259 260 start_t = time.time() 261 try: 262 cmd = roslib.packages.find_node(node.package, node.type,\ 263 machine.ros_root, machine.ros_package_path) 264 except roslib.packages.ROSPkgException, e: 265 # multiple nodes, invalid package 266 raise NodeParamsException(str(e)) 267 end_t = time.time() 268 logging.getLogger('roslaunch.node_args').info('find_node(%s, %s, %s, %s) took %ss'%(node.package, node.type, machine.ros_root, machine.ros_package_path, (end_t - start_t))) 269 if not cmd: 270 raise NodeParamsException("Cannot locate node of type [%s] in package [%s]"%(node.type, node.package)) 271 return _launch_prefix_args(node) + [cmd] + args

272

Source Code for Module roshlaunch.node_args