/
launcher.py
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/
launcher.py
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# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Fraunhofer nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import os
import roslib
import rospkg
import rospy
import shlex
import socket
import sys
import types
import roslaunch
try:
import xmlrpclib as xmlrpcclient
except ImportError:
import xmlrpc.client as xmlrpcclient
from rosgraph.network import get_local_addresses
from fkie_master_discovery.common import masteruri_from_ros
from fkie_master_discovery.udp import DiscoverSocket
from . import host
from . import exceptions
from . import remote
from . import screen
from . import settings
from .launch_stub import LaunchStub
from .common import get_cwd, package_name, interpret_path, isstring, utf8
from .supervised_popen import SupervisedPopen
from .startcfg import StartConfig
STARTED_BINARIES = dict()
''':var STARTED_BINARIES: dictionary with nodes and tuple of (paths of started binaries and their last modification time). Used to detect changes on binaries.'''
def create_start_config(node, launchcfg, executable='', masteruri=None, loglevel='', logformat='', reload_global_param=False, cmd_prefix=''):
'''
:param str cmd_prefix: custom command prefix. It will be prepended before launch prefix.
:return: Returns start configuration created from loaded launch file.
:rtype: fkie_node_manager_daemon.startcfg.StartConfig
'''
n = launchcfg.get_node(node)
if n is None:
raise exceptions.StartException("Node '%s' not found in launch file %s" % (node, launchcfg.filename))
result = StartConfig(n.package, n.type)
result.config_path = launchcfg.filename
if executable:
result.binary_path = executable
result.name = n.name
result.namespace = n.namespace
result.fullname = node
# set launch prefix
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
result.prefix = '%s %s' % (cmd_prefix, prefix) if cmd_prefix else prefix
result.env = {key: value for key, value in n.env_args}
# set remapings
result.remaps = {remap[0]: remap[1] for remap in n.remap_args}
# set respawn parameter
if n.respawn:
result.respawn = n.respawn
if n.respawn_delay > 0:
result.respawn_delay = n.respawn_delay
respawn_params = _get_respawn_params(rospy.names.ns_join(n.namespace, n.name), launchcfg.roscfg.params, result.respawn_delay)
result.respawn_max = respawn_params['max']
result.respawn_min_runtime = respawn_params['min_runtime']
result.respawn_delay = respawn_params['delay']
# set log level
result.loglevel = loglevel
result.logformat = logformat
# set masteruri and host config
if 'ROS_MASTER_URI' in result.env:
result.masteruri = result.env['ROS_MASTER_URI']
result.host = launchcfg.host
if not result.host and masteruri:
result.host = host.get_hostname(masteruri)
else:
result.masteruri = masteruri if masteruri or masteruri is None else None
result.host = launchcfg.host
# override host with machine tag
if n.machine_name and n.machine_name in launchcfg.roscfg.machines:
result.host = launchcfg.roscfg.machines[n.machine_name].address
# set args
result.args = n.args.split()
# set cwd unchanged, it will be resolved on host
result.cwd = n.cwd
# add global parameter on start of first node of the launch
if reload_global_param or launchcfg.changed:
if result.masteruri in launchcfg.global_param_done:
launchcfg.global_param_done.remove(result.masteruri)
launchcfg.changed = False
if result.masteruri not in launchcfg.global_param_done:
global_params = get_global_params(launchcfg.roscfg)
result.params.update(global_params)
rospy.loginfo("add global parameter for '%s'" % launchcfg.filename)
rospy.logdebug("add global parameter:\n %s", '\n '.join("%s: %s%s" % (key, utf8(val)[:80], '...' if len(utf8(val)) > 80 else'') for key, val in global_params.items()))
launchcfg.global_param_done.append(result.masteruri)
# add params and clear_params
nodens = "%s%s%s" % (n.namespace, n.name, rospy.names.SEP)
for pname, param in launchcfg.roscfg.params.items():
if pname.startswith(nodens):
result.params[pname] = param.value
for cparam in launchcfg.roscfg.clear_params:
if cparam.startswith(nodens):
result.clear_params.append(cparam)
rospy.logdebug("set delete parameter:\n %s", '\n '.join(result.clear_params))
rospy.logdebug("add parameter:\n %s", '\n '.join("%s: %s%s" % (key, utf8(val)[:80], '...' if len(utf8(val)) > 80 else '') for key, val in result.params.items()))
return result
def run_node(startcfg):
'''
Start a node local or on specified host using a :class:`.startcfg.StartConfig`
:param startcfg: start configuration e.g. returned by :meth:`create_start_config`
:type startcfg: :class:`fkie_node_manager_daemon.startcfg.StartConfig`
:raise exceptions.StartException: on errors
:raise exceptions.BinarySelectionRequest: on multiple binaries
:see: :meth:`fkie_node_manager.host.is_local`
'''
hostname = startcfg.hostname
nodename = roslib.names.ns_join(startcfg.namespace, startcfg.name)
if not hostname or host.is_local(hostname, wait=True):
# run on local host
# interpret arguments with path elements
args = []
for arg in startcfg.args:
new_arg = arg
if arg.startswith('$(find'):
new_arg = interpret_path(arg)
rospy.logdebug("interpret arg '%s' to '%s'" % (arg, new_arg))
args.append(new_arg)
# set name and namespace of the node
if startcfg.name:
args.append("__name:=%s" % startcfg.name)
if startcfg.namespace:
args.append("__ns:=%s" % startcfg.namespace)
# add remap arguments
for key, val in startcfg.remaps.items():
args.append("%s:=%s" % (key, val))
cmd_type = startcfg.binary_path
# get binary path from package
if not cmd_type:
try:
cmd = roslib.packages.find_node(startcfg.package, startcfg.binary)
except (roslib.packages.ROSPkgException, rospkg.ResourceNotFound) as e:
# multiple nodes, invalid package
rospy.logwarn("resource not found: %s" % utf8(e))
raise exceptions.ResourceNotFound(startcfg.package, "resource not found: %s" % utf8(e))
if isstring(cmd):
cmd = [cmd]
if cmd is None or len(cmd) == 0:
raise exceptions.StartException('%s in package [%s] not found!' % (startcfg.binary, startcfg.package))
if len(cmd) > 1:
# Open selection for executables
err = 'Multiple executables with same name in package [%s] found:' % startcfg.package
raise exceptions.BinarySelectionRequest(cmd, err)
else:
cmd_type = cmd[0]
try:
global STARTED_BINARIES
STARTED_BINARIES[nodename] = (cmd_type, os.path.getmtime(cmd_type))
except Exception:
pass
cwd = get_cwd(startcfg.cwd, cmd_type)
# set environment
new_env = dict(os.environ)
# set display variable to local display
if 'DISPLAY' in startcfg.env:
if not startcfg.env['DISPLAY'] or startcfg.env['DISPLAY'] == 'remote':
del startcfg.env['DISPLAY']
#else:
# new_env['DISPLAY'] = ':0'
# add environment from launch
new_env.update(startcfg.env)
if startcfg.namespace:
new_env['ROS_NAMESPACE'] = startcfg.namespace
# set logging
if startcfg.logformat:
new_env['ROSCONSOLE_FORMAT'] = '%s' % startcfg.logformat
if startcfg.loglevel:
new_env['ROSCONSOLE_CONFIG_FILE'] = _rosconsole_cfg_file(startcfg.package, startcfg.loglevel)
# handle respawn
if startcfg.respawn:
if startcfg.respawn_delay > 0:
new_env['RESPAWN_DELAY'] = '%d' % startcfg.respawn_delay
respawn_params = _get_respawn_params(startcfg.fullname, startcfg.params)
if respawn_params['max'] > 0:
new_env['RESPAWN_MAX'] = '%d' % respawn_params['max']
if respawn_params['min_runtime'] > 0:
new_env['RESPAWN_MIN_RUNTIME'] = '%d' % respawn_params['min_runtime']
cmd_type = "%s %s %s" % (settings.RESPAWN_SCRIPT, startcfg.prefix, cmd_type)
else:
cmd_type = "%s %s" % (startcfg.prefix, cmd_type)
# check for masteruri
masteruri = startcfg.masteruri
if masteruri is None:
masteruri = masteruri_from_ros()
if masteruri is not None:
if 'ROS_MASTER_URI' not in startcfg.env:
new_env['ROS_MASTER_URI'] = masteruri
# host in startcfg is a nmduri -> get host name
ros_hostname = host.get_ros_hostname(masteruri, hostname)
if ros_hostname:
addr = socket.gethostbyname(ros_hostname)
if addr in set(ip for _n, ip in get_local_addresses()):
new_env['ROS_HOSTNAME'] = ros_hostname
# load params to ROS master
_load_parameters(masteruri, startcfg.params, startcfg.clear_params)
# start
cmd_str = utf8('%s %s %s' % (screen.get_cmd(startcfg.fullname, new_env, list(startcfg.env.keys())), cmd_type, ' '.join(args)))
rospy.loginfo("%s (launch_file: '%s', masteruri: %s)" % (cmd_str, startcfg.config_path, masteruri))
rospy.logdebug("environment while run node '%s': '%s'" % (cmd_str, new_env))
SupervisedPopen(shlex.split(cmd_str), cwd=cwd, env=new_env, object_id="run_node_%s" % startcfg.fullname, description="Run [%s]%s" % (utf8(startcfg.package), utf8(startcfg.binary)))
else:
nmduri = startcfg.nmduri
rospy.loginfo("remote run node '%s' at '%s'" % (nodename, nmduri))
startcfg.params.update(_params_to_package_path(startcfg.params))
startcfg.args = _args_to_package_path(startcfg.args)
# run on a remote machine
channel = remote.get_insecure_channel(nmduri)
if channel is None:
raise exceptions.StartException("Unknown launch manager url for host %s to start %s" % (host, startcfg.fullname))
lm = LaunchStub(channel)
lm.start_standalone_node(startcfg)
def changed_binaries(nodes):
'''
Checks for each ROS-node however the binary used for the start was changed.
:param nodes: list of ROS-node names to check
:type nodes: list(str)
:return: list with ROS-nodes with changed binary
:rtype: list(str)
'''
result = []
global STARTED_BINARIES
for nodename in nodes:
try:
binary, mtime = STARTED_BINARIES[nodename]
new_mtime = os.path.getmtime(binary)
if mtime != new_mtime:
result.append((nodename, new_mtime))
except KeyError:
pass
except Exception:
print(" Error while check changed binary for %s" % nodename)
import traceback
print(traceback.format_exc())
return result
def _rosconsole_cfg_file(package, loglevel='INFO'):
result = os.path.join(settings.LOG_PATH, '%s.rosconsole.config' % package)
with open(result, 'w') as cfg_file:
cfg_file.write('log4j.logger.ros=%s\n' % loglevel)
cfg_file.write('log4j.logger.ros.roscpp=INFO\n')
cfg_file.write('log4j.logger.ros.roscpp.superdebug=WARN\n')
return result
def _get_respawn_params(node, params, respawn_delay_value=0):
result = {'max': 0, 'min_runtime': 0, 'delay': respawn_delay_value}
respawn_max = rospy.names.ns_join(node, 'respawn/max')
respawn_min_runtime = rospy.names.ns_join(node, 'respawn/min_runtime')
respawn_delay = rospy.names.ns_join(node, 'respawn/delay')
try:
result['max'] = int(params[respawn_max].value)
except Exception:
pass
try:
result['min_runtime'] = int(params[respawn_min_runtime].value)
except Exception:
pass
try:
result['delay'] = int(params[respawn_delay].value)
except Exception:
pass
return result
def _load_parameters(masteruri, params, clear_params):
"""
Load parameters onto the parameter server
"""
param_server = xmlrpcclient.ServerProxy(masteruri)
p = None
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # packages names
param_errors = []
try:
socket.setdefaulttimeout(6 + len(clear_params))
# multi-call style xmlrpc
param_server_multi = xmlrpcclient.MultiCall(param_server)
# clear specified parameter namespaces
# #2468 unify clear params to prevent error
for p in clear_params:
param_server_multi.deleteParam(rospy.get_name(), p)
r = param_server_multi()
for code, msg, _ in r:
if code != 1 and not msg.find("is not set"):
rospy.logwarn("Failed to clear parameter: %s", msg)
# raise StartException("Failed to clear parameter: %s"%(msg))
# multi-call objects are not reusable
socket.setdefaulttimeout(6 + len(params))
param_server_multi = xmlrpcclient.MultiCall(param_server)
for pkey, pval in params.items():
value = pval
# resolve path elements
if isstring(value) and (value.startswith('$')):
value = interpret_path(value)
rospy.logdebug("interpret parameter '%s' to '%s'" % (value, pval))
# add parameter to the multicall
param_server_multi.setParam(rospy.get_name(), pkey, value)
test_ret = _test_value(pkey, value)
if test_ret:
param_errors.extend(test_ret)
r = param_server_multi()
for code, msg, _ in r:
if code != 1:
raise exceptions.StartException("Failed to set parameter: %s" % (msg))
except roslaunch.core.RLException as e:
raise exceptions.StartException(e)
except rospkg.ResourceNotFound as rnf:
raise exceptions.StartException("Failed to set parameter. ResourceNotFound: %s" % (rnf))
except Exception as e:
raise exceptions.StartException("Failed to set parameter. ROS Parameter Server "
"reports: %s\n\n%s" % (e, '\n'.join(param_errors)))
finally:
socket.setdefaulttimeout(None)
return abs_paths, not_found_packages
def _test_value(key, value):
result = []
if value is None:
msg = "Invalid parameter value of '%s': '%s'" % (key, value)
result.append(msg)
rospy.logwarn(msg)
elif isinstance(value, list):
for val in value:
ret = _test_value(key, val)
if ret:
result.extend(ret)
elif isinstance(value, dict):
for subkey, val in value.items():
ret = _test_value("%s/%s" % (key, subkey), val)
if ret:
result.extend(ret)
return result
def _abs_to_package_path(path):
result = path
pname, ppath = package_name(path)
if pname is not None:
result = path.replace(ppath, '$(find %s)' % pname)
rospy.logdebug("replace abs path '%s' by '%s'" % (path, result))
return result
def _params_to_package_path(params):
result = {}
for name, value in params.items():
if isstring(value):
if value.startswith('/') and (os.path.isfile(value) or os.path.isdir(value)):
result[name] = _abs_to_package_path(value)
return result
def _args_to_package_path(args):
result = []
for arg in args:
new_arg = arg
if arg.startswith('/') and (os.path.isfile(arg) or os.path.isdir(arg)):
new_arg = _abs_to_package_path(arg)
result.append(new_arg)
return result
def get_global_params(roscfg):
'''
Return the parameter of the configuration file, which are not associated with
any nodes in the configuration.
:param roscfg: the launch configuration
:type roscfg: roslaunch.ROSLaunchConfig<http://docs.ros.org/kinetic/api/roslaunch/html/>
:return: the dictionary with names of the global parameter and their values
:rtype: dict(str: value type)
'''
result = dict()
nodes = []
for item in roscfg.resolved_node_names:
nodes.append(item)
for name, param in roscfg.params.items():
nodesparam = False
for n in nodes:
if name.startswith(n):
# load global parameter which has names equal to node names
if name != n:
nodesparam = True
break
if not nodesparam:
result[name] = param.value
return result