Package roshlaunch :: Module xmlloader :: Class XmlLoader

Class XmlLoader

roslaunch.loader.Loader --+
                          |
                         XmlLoader

Parser for roslaunch XML format. Loads parsed representation into ROSConfig model.

Instance Methods

__init__(self, resolve_anon=True)

source code

resolve_args(self, args, context)
Wrapper around roslaunch.substitution_args.resolve_args to set common parameters

source code

opt_attrs(self, tag, context, attrs)
Helper routine for fetching and resolving optional tag attributes @param tag DOM tag @param context LoaderContext

source code

reqd_attrs(self, tag, context, attrs)
Helper routine for fetching and resolving required tag attributes

source code

load(self, filename, ros_config, core=False, argv=None, verbose=True)
load XML file into launch configuration

source code

load_string(self, xml_text, ros_config, core=False, verbose=True)
Load XML text into launch configuration

source code

Class Variables
	ROSPARAM_OPT_ATTRS = `'command', 'ns', 'file', 'param'`
	PARAM_ATTRS = `'name', 'value', 'type', 'value', 'textfile', 'b...`
	ARG_ATTRS = `'name', 'value', 'default'`
	NODE_ATTRS = `['pkg', 'type', 'machine', 'name', 'args', 'outpu...`
	TEST_ATTRS = `NODE_ATTRS+ ['test-name', 'time-limit', 'retry']`
	MACHINE_ATTRS = `'name', 'address', 'ros-root', 'ros-package-pa...`
	REMAP_ATTRS = `'from', 'to'`
	ENV_ATTRS = `'name', 'value'`
	INCLUDE_ATTRS = `'file', NS, CLEAR_PARAMS`
	GROUP_ATTRS = `NS, CLEAR_PARAMS`

Method Details

init(self, resolve_anon=True)
(Constructor)

source code

Parameters:

resolve_anon (bool) - If True (default), will resolve $(anon foo). If false, will leave these args as-is.

opt_attrs(self, tag, context, attrs)

source code

Helper routine for fetching and resolving optional tag attributes @param tag DOM tag @param context LoaderContext

Parameters:

attrs, (str) - list of attributes to resolve

reqd_attrs(self, tag, context, attrs)

source code

Helper routine for fetching and resolving required tag attributes

Parameters:

tag - DOM tag
attrs ((str)) - list of attributes to resolve

Raises:

KeyError - if required attribute is missing

load(self, filename, ros_config, core=False, argv=None, verbose=True)

source code

load XML file into launch configuration

Parameters:

filename (str) - XML config file to load
ros_config (ROSLaunchConfig) - launch configuration to load XML file into
core (bool) - if True, load file using ROS core rules
argv ([str]) - override command-line arguments (mainly for arg testing)

load_string(self, xml_text, ros_config, core=False, verbose=True)

source code

Load XML text into launch configuration

Parameters:

xml_text (str) - XML configuration
ros_config (ROSLaunchConfig) - launch configuration to load XML file into
core (bool) - if True, load file using ROS core rules

Class Variable Details

PARAM_ATTRS

Value:

'name', 'value', 'type', 'value', 'textfile', 'binfile', 'command'

NODE_ATTRS

Value:

['pkg', 'type', 'machine', 'name', 'args', 'output', 'respawn', 'cwd',
 NS, CLEAR_PARAMS, 'launch-prefix', 'required']

MACHINE_ATTRS

Value:

'name', 'address', 'ros-root', 'ros-package-path', 'ros-ip', 'ros-host
-name', 'ssh-port', 'user', 'password', 'default', 'timeout'

Class XmlLoader

__init__(self, resolve_anon=True) (Constructor)

opt_attrs(self, tag, context, attrs)

reqd_attrs(self, tag, context, attrs)

load(self, filename, ros_config, core=False, argv=None, verbose=True)

load_string(self, xml_text, ros_config, core=False, verbose=True)

PARAM_ATTRS

NODE_ATTRS

MACHINE_ATTRS

init(self, resolve_anon=True)
(Constructor)