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Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
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70
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roscore vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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 sys
from optparse import OptionParser
from rosmaster.master_api import NUM_WORKERS
NAME = 'roscore'
def _get_optparse():
parser = OptionParser(usage="usage: %prog [options]",
prog=NAME,
description="roscore will start up a ROS Master, a ROS Parameter Server and a rosout logging node",
epilog="See http://www.ros.org/wiki/roscore"
)
parser.add_option("-p", "--port",
dest="port", default=None,
help="master port. Only valid if master is launched", metavar="PORT")
parser.add_option("-v", action="store_true",
dest="verbose", default=False,
help="verbose printing")
parser.add_option("-w", "--numworkers",
dest="num_workers", default=NUM_WORKERS, type=int,
help="override number of worker threads", metavar="NUM_WORKERS")
parser.add_option("-t", "--timeout",
dest="timeout",
help="override the socket connection timeout (in seconds).", metavar="TIMEOUT")
return parser
parser = _get_optparse()
(options, args) = parser.parse_args(sys.argv[1:])
if len(args) > 0:
parser.error("roscore does not take arguments")
import roslaunch
roslaunch.main(['roscore', '--core'] + sys.argv[1:])

35
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roslaunch vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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 roslaunch
roslaunch.main()

125
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roslaunch-check vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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.
from __future__ import print_function
import os
import sys
import rospkg
import roslaunch.rlutil
import rosunit
def check_roslaunch_file(roslaunch_file, use_test_depends=False):
print("checking", roslaunch_file)
error_msg = roslaunch.rlutil.check_roslaunch(roslaunch_file, use_test_depends=use_test_depends)
# error message has to be XML attr safe
if error_msg:
return "[%s]:\n\t%s"%(roslaunch_file,error_msg)
def check_roslaunch_dir(roslaunch_dir, use_test_depends=False):
error_msgs = []
for f in os.listdir(roslaunch_dir):
if f.endswith('.launch'):
roslaunch_file = os.path.join(roslaunch_dir, f)
if os.path.isfile(roslaunch_file):
error_msgs.append(check_roslaunch_file(roslaunch_file, use_test_depends=use_test_depends))
# error message has to be XML attr safe
return '\n'.join([e for e in error_msgs if e])
## run check and output test result file
if __name__ == '__main__':
from optparse import OptionParser
parser = OptionParser(usage="usage: \troslaunch-check [options] <file|directory> [env=value...]")
# #3674
parser.add_option("-o", "--output-file",
dest="output_file", default=None,
help="file to store test results in", metavar="FILE")
parser.add_option("-t", "--use-test-depends",
action="store_true", dest="test_depends", default=False,
help="Assuming packages listed in test_depends are also installed")
options, args = parser.parse_args()
if not args:
parser.error('please specify a file or directory for roslaunch files to test')
roslaunch_path = args[0]
# #2590: implementing this quick and dirty as this script should only be used by higher level tools
env_vars = args[1:]
for e in env_vars:
var, val = e.split('=')
os.environ[var] = val
pkg = rospkg.get_package_name(roslaunch_path)
r = rospkg.RosPack()
pkg_dir = r.get_path(pkg)
if os.path.isfile(roslaunch_path):
error_msg = check_roslaunch_file(roslaunch_path, use_test_depends=options.test_depends)
else:
print("checking *.launch in directory", roslaunch_path)
error_msg = check_roslaunch_dir(roslaunch_path, use_test_depends=options.test_depends)
relpath = os.path.abspath(roslaunch_path)[len(os.path.abspath(pkg_dir))+1:]
outname = relpath.replace('.', '_').replace(os.sep, '_')
if outname == '_':
outname = '_pkg'
if options.output_file:
test_file = options.output_file
# If we were given a test file name to write, then construct the
# test name from it, to ensure uniqueness
test_name = os.path.basename(test_file)
else:
test_file = rosunit.xml_results_file(pkg, "roslaunch_check_"+outname, is_rostest=False)
test_name = roslaunch_path
print("...writing test results to", test_file)
dir_path = os.path.abspath(os.path.dirname(test_file))
if not os.path.exists(dir_path):
os.makedirs(dir_path)
if error_msg:
print("FAILURE:\n%s"%error_msg, file=sys.stderr)
with open(test_file, 'w') as f:
message = "roslaunch check [%s] failed"%(roslaunch_path)
f.write(rosunit.junitxml.test_failure_junit_xml(test_name, message, stdout=error_msg,
class_name="roslaunch.RoslaunchCheck", testcase_name="%s_%s" % (pkg, outname)))
print("wrote test file to [%s]"%test_file)
sys.exit(1)
else:
print("passed")
with open(test_file, 'w') as f:
f.write(rosunit.junitxml.test_success_junit_xml(test_name,
class_name="roslaunch.RoslaunchCheck", testcase_name="%s_%s" % (pkg, outname)))

55
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roslaunch-complete vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2013, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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 roslaunch.core
import roslaunch.arg_dump as roslaunch_arg_dump
from roslaunch import rlutil
import sys
try:
args = rlutil.resolve_launch_arguments(sys.argv[1:])
# Strip all other args: As we are completing they might be incomplete
# and will lead to an error. Anyways we only want all possible args.
args = args[0:1]
roslaunch_args = roslaunch_arg_dump.get_args(args)
except roslaunch.core.RLException:
# stay silent for completion
sys.exit(1)
#complete_args = [a + ":=" for a in sorted(roslaunch_args.keys())]
# Currently don't put := after that as the completion will escape := to \:\=
# Unfortunately we also want the escaping for roslaunch, when completing filenames
complete_args = [a for a in sorted(roslaunch_args.keys())]
print " ".join(complete_args)
sys.exit(0)

35
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roslaunch-deps vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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 roslaunch.depends
roslaunch.depends.roslaunch_deps_main()

35
thirdparty/ros/ros_comm/tools/roslaunch/scripts/roslaunch-logs vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# 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 Willow Garage, Inc. 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 roslaunch.roslaunch_logs
roslaunch.roslaunch_logs.logs_main()