/usr/lib/python2.7/dist-packages/roslaunch/scriptapi.py is in python-roslaunch 1.11.16-3.
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# Revision $Id$
"""
Scripting interface for roslaunch
"""
from roslaunch.core import Node, Master, RLException
import roslaunch.config
import roslaunch.parent
import roslaunch.xmlloader
class ROSLaunch(object):
"""
ROSLaunchParent represents the main 'parent' roslaunch process. It
is responsible for loading the launch files, assigning machines,
and then starting up any remote processes. The __main__ method
delegates most of runtime to ROSLaunchParent.
This must be called from the Python Main thread due to signal registration.
"""
def __init__(self):
"""
@raise RLException: if fails to initialize
"""
import rosgraph.masterapi
master = rosgraph.masterapi.Master('/roslaunch_script')
uuid = master.getParam('/run_id')
self.parent = roslaunch.parent.ROSLaunchParent(uuid, [], is_core=False)
self.started = False
def load(self, f):
"""
Load roslaunch file
@param f: filename
@type f: str
"""
raise NotImplemented
def load_str(self, s):
"""
Load roslaunch string
@param s: string representation of roslaunch config
@type s: str
"""
raise NotImplemented
def launch(self, node):
"""
Launch a roslaunch node instance
@param node: roslaunch Node instance
@type node: roslaunch.Node
@return: node process
@rtype: roslaunch.Process
@raise RLException: if launch fails
"""
if not self.started:
raise RLException("please start ROSLaunch first")
elif not isinstance(node, Node):
raise ValueError("arg must be of type Node")
proc, success = self.parent.runner.launch_node(node)
if not success:
raise RLException("failed to launch %s/%s"%(node.package, node.type))
return proc
def start(self):
"""
Start roslaunch. This will launch any pre-configured launches and spin up the process monitor thread.
"""
self.parent.start(auto_terminate=False)
self.started = True
def spin(self):
self.parent.spin()
def spin_once(self):
self.parent.spin_once()
def stop(self):
self.parent.shutdown()
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