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("-u", "--server_uri", 144 dest="server_uri", default=None, 145 help="URI of server. Required with -c", metavar="URI") 146 parser.add_option("--run_id", 147 dest="run_id", default=None, 148 help="run_id of session. Required with -c", metavar="RUN_ID") 149 # #1254: wait until master comes online before starting 150 parser.add_option("--wait", action="store_true", 151 dest="wait_for_master", default=False, 152 help="wait for master to start before launching") 153 parser.add_option("-p", "--port", 154 dest="port", default=None, 155 help="master port. Only valid if master is launched", metavar="PORT") 156 parser.add_option("--core", action="store_true", 157 dest="core", default=False, 158 help="Launch core services only") 159 parser.add_option("--pid", 160 dest="pid_fn", default="", 161 help="write the roslaunch pid to filename") 162 parser.add_option("-v", action="store_true", 163 dest="verbose", default=False, 164 help="verbose printing") 165 # 2685 - Dump parameters of launch files 166 parser.add_option("--dump-params", default=False, action="store_true", 167 dest="dump_params", 168 help="Dump parameters of all roslaunch files to stdout") 169 parser.add_option("--skip-log-check", default=False, action="store_true", 170 dest="skip_log_check", 171 help="skip check size of log folder") 172 parser.add_option("--ros-args", default=False, action="store_true", 173 dest="ros_args", 174 help="Display command-line arguments for this launch file") 175 parser.add_option("--disable-title", default=False, action="store_true", 176 dest="disable_title", 177 help="Disable setting of terminal title") 178 parser.add_option("-w", "--numworkers", 179 dest="num_workers", default=NUM_WORKERS, type=int, 180 help="override number of worker threads. Only valid for core services.", metavar="NUM_WORKERS") 181 parser.add_option("-t", "--timeout", 182 dest="timeout", 183 help="override the socket connection timeout (in seconds). Only valid for core services.", metavar="TIMEOUT") 184 parser.add_option("--master-logger-level", 185 dest="master_logger_level", default=False, type=str, 186 help="set rosmaster.master logger level ('debug', 'info', 'warn', 'error', 'fatal')") 187 188 return parser

189

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

191 # validate args first so we don't spin up any resources 192 if options.child_name: 193 if not options.server_uri: 194 parser.error("--child option requires --server_uri to be set as well") 195 if not options.run_id: 196 parser.error("--child option requires --run_id to be set as well") 197 if options.port: 198 parser.error("port option cannot be used with roslaunch child mode") 199 if args: 200 parser.error("Input files are not allowed when run in child mode") 201 elif options.core: 202 if args: 203 parser.error("Input files are not allowed when launching core") 204 if options.run_id: 205 parser.error("--run_id should only be set for child roslaunches (-c)") 206 207 # we don't actually do anything special for core as the roscore.xml file 208 # is an implicit include for any roslaunch 209 210 elif len(args) == 0: 211 parser.error("you must specify at least one input file") 212 elif [f for f in args if not (f == '-' or os.path.exists(f))]: 213 parser.error("The following input files do not exist: %s"%f) 214 215 if args.count('-') > 1: 216 parser.error("Only a single instance of the dash ('-') may be specified.") 217 218 if len([x for x in [options.node_list, options.find_node, options.node_args, options.ros_args] if x]) > 1: 219 parser.error("only one of [--nodes, --find-node, --args --ros-args] may be specified")

220

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

222 roslaunch_core.printerrlog(msg + str(e)) 223 roslaunch_core.printerrlog('The traceback for the exception was written to the log file') 224 if logger: 225 logger.error(traceback.format_exc()) 226 sys.exit(1)

227

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

229 options = None 230 logger = None 231 try: 232 from . import rlutil 233 parser = _get_optparse() 234 235 (options, args) = parser.parse_args(argv[1:]) 236 args = rlutil.resolve_launch_arguments(args) 237 _validate_args(parser, options, args) 238 239 # node args doesn't require any roslaunch infrastructure, so process it first 240 if any([options.node_args, options.node_list, options.find_node, options.dump_params, options.file_list, options.ros_args]): 241 if options.node_args and not args: 242 parser.error("please specify a launch file") 243 244 from . import node_args 245 if options.node_args: 246 node_args.print_node_args(options.node_args, args) 247 elif options.find_node: 248 node_args.print_node_filename(options.find_node, args) 249 # Dump parameters, #2685 250 elif options.dump_params: 251 roslaunch_param_dump.dump_params(args) 252 elif options.file_list: 253 rlutil.print_file_list(args) 254 elif options.ros_args: 255 import arg_dump as roslaunch_arg_dump 256 roslaunch_arg_dump.dump_args(args) 257 else: 258 node_args.print_node_list(args) 259 return 260 261 # we have to wait for the master here because we don't have the run_id yet 262 if options.wait_for_master: 263 if options.core: 264 parser.error("--wait cannot be used with roscore") 265 rlutil._wait_for_master() 266 267 # write the pid to a file 268 write_pid_file(options.pid_fn, options.core, options.port) 269 270 # spin up the logging infrastructure. have to wait until we can read options.run_id 271 uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master) 272 configure_logging(uuid) 273 274 # #3088: don't check disk usage on remote machines 275 if not options.child_name and not options.skip_log_check: 276 # #2761 277 rlutil.check_log_disk_usage() 278 279 logger = logging.getLogger('roslaunch') 280 logger.info("roslaunch starting with args %s"%str(argv)) 281 logger.info("roslaunch env is %s"%os.environ) 282 283 if options.child_name: 284 logger.info('starting in child mode') 285 286 # This is a roslaunch child, spin up client server. 287 # client spins up an XML-RPC server that waits for 288 # commands and configuration from the server. 289 from . import child as roslaunch_child 290 c = roslaunch_child.ROSLaunchChild(uuid, options.child_name, options.server_uri) 291 c.run() 292 else: 293 logger.info('starting in server mode') 294 295 # #1491 change terminal name 296 if not options.disable_title: 297 rlutil.change_terminal_name(args, options.core) 298 299 # Read roslaunch string from stdin when - is passed as launch filename. 300 roslaunch_strs = [] 301 if '-' in args: 302 roslaunch_core.printlog("Passed '-' as file argument, attempting to read roslaunch XML from stdin.") 303 roslaunch_strs.append(sys.stdin.read()) 304 roslaunch_core.printlog("... %d bytes read successfully.\n" % len(roslaunch_strs[-1])) 305 args.remove('-') 306 307 # This is a roslaunch parent, spin up parent server and launch processes. 308 # args are the roslaunch files to load 309 from . import parent as roslaunch_parent 310 # force a port binding spec if we are running a core 311 if options.core: 312 options.port = options.port or DEFAULT_MASTER_PORT 313 p = roslaunch_parent.ROSLaunchParent(uuid, args, roslaunch_strs=roslaunch_strs, 314 is_core=options.core, port=options.port, local_only=options.local_only, 315 verbose=options.verbose, force_screen=options.force_screen, 316 num_workers=options.num_workers, timeout=options.timeout, 317 master_logger_level=options.master_logger_level) 318 p.start() 319 p.spin() 320 321 except RLException as e: 322 handle_exception(roslaunch_core, logger, "RLException: ", e) 323 except ValueError as e: 324 # TODO: need to trap better than this high-level trap 325 handle_exception(roslaunch_core, logger, "Value error: ", e) 326 except rospkg.ResourceNotFound as e: 327 handle_exception(roslaunch_core, logger, "Resource not found: ", e) 328 except Exception as e: 329 traceback.print_exc() 330 sys.exit(1) 331 finally: 332 # remove the pid file 333 if options is not None and options.pid_fn: 334 try: os.unlink(options.pid_fn) 335 except os.error: pass

336 337 338 if __name__ == '__main__': 339 main() 340

Source Code for Package roslaunch