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 sys 40 import traceback 41 42 # monkey-patch to suppress threading error message in Python 2.7.3 43 # see http://stackoverflow.com/questions/13193278/understand-python-threading-bug 44 if sys.version_info[:3] == (2, 7, 3): 45 import threading 46 threading._DummyThread._Thread__stop = lambda _dummy: None 47 48 import rospkg 49 50 from . import core as roslaunch_core 51 from . import param_dump as roslaunch_param_dump 52 53 # symbol exports 54 from .core import Node, Test, Master, RLException 55 from .config import ROSLaunchConfig 56 from .launch import ROSLaunchRunner 57 from .xmlloader import XmlLoader, XmlParseException 58 59 60 # script api 61 from .scriptapi import ROSLaunch 62 from .pmon import Process 63 64 try: 65 from rosmaster import DEFAULT_MASTER_PORT 66 except: 67 DEFAULT_MASTER_PORT = 11311 68 69 from rosmaster.master_api import NUM_WORKERS 70 71 NAME = 'roslaunch' 72

73 -def configure_logging(uuid):

74 """ 75 scripts using roslaunch MUST call configure_logging 76 """ 77 try: 78 import socket 79 import rosgraph.roslogging 80 logfile_basename = os.path.join(uuid, '%s-%s-%s.log'%(NAME, socket.gethostname(), os.getpid())) 81 # additional: names of python packages we depend on that may also be logging 82 logfile_name = rosgraph.roslogging.configure_logging(NAME, filename=logfile_basename) 83 if logfile_name: 84 print("... logging to %s"%logfile_name) 85 86 # add logger to internal roslaunch logging infrastructure 87 logger = logging.getLogger('roslaunch') 88 roslaunch_core.add_printlog_handler(logger.info) 89 roslaunch_core.add_printerrlog_handler(logger.error) 90 except: 91 print("WARNING: unable to configure logging. No log files will be generated", file=sys.stderr)

92

93 -def write_pid_file(options_pid_fn, options_core, port):

94 if options_pid_fn or options_core: 95 # #2987 96 ros_home = rospkg.get_ros_home() 97 if options_pid_fn: 98 pid_fn = os.path.expanduser(options_pid_fn) 99 if os.path.dirname(pid_fn) == ros_home and not os.path.exists(ros_home): 100 os.makedirs(ros_home) 101 else: 102 # NOTE: this assumption is not 100% valid until work on #3097 is complete 103 if port is None: 104 port = DEFAULT_MASTER_PORT 105 pid_fn = os.path.join(ros_home, 'roscore-%s.pid'%(port)) 106 # #3828 107 if not os.path.exists(ros_home): 108 os.makedirs(ros_home) 109 110 with open(pid_fn, "w") as f: 111 f.write(str(os.getpid()))

112

113 -def _get_optparse():

114 from optparse import OptionParser 115 116 usage = "usage: %prog [options] [package] <filename> [arg_name:=value...]\n" 117 usage += " %prog [options] <filename> [<filename>...] [arg_name:=value...]\n\n" 118 usage += "If <filename> is a single dash ('-'), launch XML is read from standard input." 119 parser = OptionParser(usage=usage, prog=NAME) 120 parser.add_option("--files", 121 dest="file_list", default=False, action="store_true", 122 help="Print list files loaded by launch file, including launch file itself") 123 parser.add_option("--args", 124 dest="node_args", default=None, 125 help="Print command-line arguments for node", metavar="NODE_NAME") 126 parser.add_option("--nodes", 127 dest="node_list", default=False, action="store_true", 128 help="Print list of node names in launch file") 129 parser.add_option("--find-node", 130 dest="find_node", default=None, 131 help="Find launch file that node is defined in", metavar="NODE_NAME") 132 parser.add_option("-c", "--child", 133 dest="child_name", default=None, 134 help="Run as child service 'NAME'. Required with -u", metavar="NAME") 135 parser.add_option("--local", 136 dest="local_only", default=False, action="store_true", 137 help="Do not launch remote nodes") 138 # #2370 139 parser.add_option("--screen", 140 dest="force_screen", default=False, action="store_true", 141 help="Force output of all local nodes to screen") 142 parser.add_option("-u", "--server_uri", 143 dest="server_uri", default=None, 144 help="URI of server. Required with -c", metavar="URI") 145 parser.add_option("--run_id", 146 dest="run_id", default=None, 147 help="run_id of session. Required with -c", metavar="RUN_ID") 148 # #1254: wait until master comes online before starting 149 parser.add_option("--wait", action="store_true", 150 dest="wait_for_master", default=False, 151 help="wait for master to start before launching") 152 parser.add_option("-p", "--port", 153 dest="port", default=None, 154 help="master port. Only valid if master is launched", metavar="PORT") 155 parser.add_option("--core", action="store_true", 156 dest="core", default=False, 157 help="Launch core services only") 158 parser.add_option("--pid", 159 dest="pid_fn", default="", 160 help="write the roslaunch pid to filename") 161 parser.add_option("-v", action="store_true", 162 dest="verbose", default=False, 163 help="verbose printing") 164 # 2685 - Dump parameters of launch files 165 parser.add_option("--dump-params", default=False, action="store_true", 166 dest="dump_params", 167 help="Dump parameters of all roslaunch files to stdout") 168 parser.add_option("--skip-log-check", default=False, action="store_true", 169 dest="skip_log_check", 170 help="skip check size of log folder") 171 parser.add_option("--ros-args", default=False, action="store_true", 172 dest="ros_args", 173 help="Display command-line arguments for this launch file") 174 parser.add_option("--disable-title", default=False, action="store_true", 175 dest="disable_title", 176 help="Disable setting of terminal title") 177 parser.add_option("-w", "--numworkers", 178 dest="num_workers", default=NUM_WORKERS, type=int, 179 help="override number of worker threads. Only valid for core services.", metavar="NUM_WORKERS") 180 parser.add_option("-t", "--timeout", 181 dest="timeout", 182 help="override the socket connection timeout (in seconds). Only valid for core services.", metavar="TIMEOUT") 183 184 return parser

185

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

187 # validate args first so we don't spin up any resources 188 if options.child_name: 189 if not options.server_uri: 190 parser.error("--child option requires --server_uri to be set as well") 191 if not options.run_id: 192 parser.error("--child option requires --run_id to be set as well") 193 if options.port: 194 parser.error("port option cannot be used with roslaunch child mode") 195 if args: 196 parser.error("Input files are not allowed when run in child mode") 197 elif options.core: 198 if args: 199 parser.error("Input files are not allowed when launching core") 200 if options.run_id: 201 parser.error("--run_id should only be set for child roslaunches (-c)") 202 203 # we don't actually do anything special for core as the roscore.xml file 204 # is an implicit include for any roslaunch 205 206 elif len(args) == 0: 207 parser.error("you must specify at least one input file") 208 else: 209 missing_files = [f for f in args if not (f == '-' or os.path.exists(f))] 210 if missing_files: 211 parser.error("The following input files do not exist: %s"%', '.join(missing_files)) 212 213 if args.count('-') > 1: 214 parser.error("Only a single instance of the dash ('-') may be specified.") 215 216 if len([x for x in [options.node_list, options.find_node, options.node_args, options.ros_args] if x]) > 1: 217 parser.error("only one of [--nodes, --find-node, --args --ros-args] may be specified")

218

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

220 options = None 221 logger = None 222 try: 223 from . import rlutil 224 parser = _get_optparse() 225 226 (options, args) = parser.parse_args(argv[1:]) 227 args = rlutil.resolve_launch_arguments(args) 228 _validate_args(parser, options, args) 229 230 # node args doesn't require any roslaunch infrastructure, so process it first 231 if any([options.node_args, options.node_list, options.find_node, options.dump_params, options.file_list, options.ros_args]): 232 if options.node_args and not args: 233 parser.error("please specify a launch file") 234 235 from . import node_args 236 if options.node_args: 237 node_args.print_node_args(options.node_args, args) 238 elif options.find_node: 239 node_args.print_node_filename(options.find_node, args) 240 # Dump parameters, #2685 241 elif options.dump_params: 242 roslaunch_param_dump.dump_params(args) 243 elif options.file_list: 244 rlutil.print_file_list(args) 245 elif options.ros_args: 246 import arg_dump as roslaunch_arg_dump 247 roslaunch_arg_dump.dump_args(args) 248 else: 249 node_args.print_node_list(args) 250 return 251 252 # we have to wait for the master here because we don't have the run_id yet 253 if options.wait_for_master: 254 if options.core: 255 parser.error("--wait cannot be used with roscore") 256 rlutil._wait_for_master() 257 258 # write the pid to a file 259 write_pid_file(options.pid_fn, options.core, options.port) 260 261 # spin up the logging infrastructure. have to wait until we can read options.run_id 262 uuid = rlutil.get_or_generate_uuid(options.run_id, options.wait_for_master) 263 configure_logging(uuid) 264 265 # #3088: don't check disk usage on remote machines 266 if not options.child_name and not options.skip_log_check: 267 # #2761 268 rlutil.check_log_disk_usage() 269 270 logger = logging.getLogger('roslaunch') 271 logger.info("roslaunch starting with args %s"%str(argv)) 272 logger.info("roslaunch env is %s"%os.environ) 273 274 if options.child_name: 275 logger.info('starting in child mode') 276 277 # This is a roslaunch child, spin up client server. 278 # client spins up an XML-RPC server that waits for 279 # commands and configuration from the server. 280 from . import child as roslaunch_child 281 c = roslaunch_child.ROSLaunchChild(uuid, options.child_name, options.server_uri) 282 c.run() 283 else: 284 logger.info('starting in server mode') 285 286 # #1491 change terminal name 287 if not options.disable_title: 288 rlutil.change_terminal_name(args, options.core) 289 290 # Read roslaunch string from stdin when - is passed as launch filename. 291 roslaunch_strs = [] 292 if '-' in args: 293 roslaunch_core.printlog("Passed '-' as file argument, attempting to read roslaunch XML from stdin.") 294 roslaunch_strs.append(sys.stdin.read()) 295 roslaunch_core.printlog("... %d bytes read successfully.\n" % len(roslaunch_strs[-1])) 296 args.remove('-') 297 298 # This is a roslaunch parent, spin up parent server and launch processes. 299 # args are the roslaunch files to load 300 from . import parent as roslaunch_parent 301 # force a port binding spec if we are running a core 302 if options.core: 303 options.port = options.port or DEFAULT_MASTER_PORT 304 p = roslaunch_parent.ROSLaunchParent(uuid, args, roslaunch_strs=roslaunch_strs, 305 is_core=options.core, port=options.port, local_only=options.local_only, 306 verbose=options.verbose, force_screen=options.force_screen, 307 num_workers=options.num_workers, timeout=options.timeout) 308 p.start() 309 p.spin() 310 311 except RLException as e: 312 roslaunch_core.printerrlog(str(e)) 313 roslaunch_core.printerrlog('The traceback for the exception was written to the log file') 314 if logger: 315 logger.error(traceback.format_exc()) 316 sys.exit(1) 317 except ValueError as e: 318 # TODO: need to trap better than this high-level trap 319 roslaunch_core.printerrlog(str(e)) 320 roslaunch_core.printerrlog('The traceback for the exception was written to the log file') 321 if logger: 322 logger.error(traceback.format_exc()) 323 sys.exit(1) 324 except Exception as e: 325 traceback.print_exc() 326 sys.exit(1) 327 finally: 328 # remove the pid file 329 if options is not None and options.pid_fn: 330 try: os.unlink(options.pid_fn) 331 except os.error: pass

332 333 334 if __name__ == '__main__': 335 main() 336

Source Code for Package roslaunch