Package node_manager_fkie :: Module launch_config :: Class LaunchConfig

Class LaunchConfig

python_qt_binding.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.

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__del__(self)

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str

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

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roslaunch.ROSLaunchConfig or None @see load()

Roscfg(self)
Holds a loaded launch configuration.

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str

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

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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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boolean

load(self, argv)
Returns: True, if the launch file was loaded

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resolveArgs(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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get_robot_icon(self)
Returns the value of the `/robot_icon` parameter or None

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Class Methods

str

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

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included_files(cls, text_or_path, regexp_retruns=[], regexp_filelist=[QRegExp("\\btextfile\\b"),QRegExp("\\bfile\\b"),QRegExp("\\bd..., recursive=True, unique=True)
:param regexp_retruns: the list with patterns which are returned as result. source code

Method Details

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

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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.

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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Holds a loaded launch configuration. It raises a LaunchConfigException on load error.

Returns: roslaunch.ROSLaunchConfig or None @see load()

Decorators:

@property

Filename(self)

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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(cls, path, pwd='.')
Class Method

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Tries to determine the path of the included file. The statement of $(find 'package') will be resolved. The supported URL begins with `file:///`, `package://` or `pkg://`. The package URL will be resolved to a valid file path. If the file is in a subdirectory, you can replace the subdirectory by `///`.

Parameters:

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

Returns: str

$(find 'package') will be resolved. The prefixes `file:///`, `package://` or `pkg://` are also resolved. Otherwise the parameter itself will be returned.

included_files(cls, text_or_path, regexp_retruns=[], regexp_filelist=[QRegExp("\\btextfile\\b"),QRegExp("\\bfile\\b"),QRegExp("\\bd`...`, recursive=True, unique=True)
Class Method

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:param regexp_retruns: the list with patterns which are returned as result. If empy it's the same as 'regexp_filelist' :param regexp_filelist: the list with all patterns to find include files

load(self, argv)

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Parameters:

argv ([str]) - the list with argv parameter needed to load the launch file. The name and value are separated by :=

Returns: boolean

True, if the launch file was loaded

Raises:

LaunchConfigException - on load errors

getArgs(self)

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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)

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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)

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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)

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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

Class LaunchConfig

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

masteruri(self)

Roscfg(self)

Filename(self)

LaunchName(self)

PackageName(self)

interpretPath(cls, path, pwd='.') Class Method

included_files(cls, text_or_path, regexp_retruns=[], regexp_filelist=[QRegExp("\\btextfile\\b"),QRegExp("\\bfile\\b"),QRegExp("\\bd..., recursive=True, unique=True) Class Method

load(self, argv)

getArgs(self)

getRobotDescr(self)

getCapabilitiesDesrc(self)

getNode(self, name)

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

interpretPath(cls, path, pwd='.')
Class Method

included_files(cls, text_or_path, regexp_retruns=[], regexp_filelist=[QRegExp("\\btextfile\\b"),QRegExp("\\bfile\\b"),QRegExp("\\bd`...`, recursive=True, unique=True)
Class Method