Replaced basic launch method with roslaunch manager (#352)

* added roslaunch module

* updated roscore

* added PackageNotFound exception

* updated PackageNotFound

* added LaunchFileNotFound

* added locate method

* moved old launch submodules

* updated API for locate method

* bad whitespace

* updated moved code

* implemented read method

* ignore long URL

* fixed optional arg

* added __call__ alias

* updated config module

* added node submodule

* added parameter submodule

* added launch submodule

* added missing import

* fixed bad import

* bad import

* finished tidying config submodule

* removed old launch method

* updated CHANGELOG

* added stub write method

* implemented write method

* updated recipes

Author: ChrisTimperley

CHANGELOG.md

@@ -9,6 +9,11 @@
   3.6 compatibility.
 * Moved all logging from Python's built-in logging library to loguru.
 * Added `to_xml_tree` method to `LaunchConfig`.
+* Added `PackageNotFound` and `LaunchFileNotFound` exception.
+* Added `roslaunch` property to `ROSCore`, which exposes a `ROSLaunchManager`.
+  The manager provides various `roslaunch`-related functionality including
+  locating, generating, parsing, flattening, and launching launch files.
+* Removed `launch` method from `ROSCore`. Replaced with `roslaunch`.
 
 
 # 1.1.0 (2020-23-04)

docs/recipes/record_to_bag.py

@@ -15,7 +15,7 @@
         ps_sitl = system.shell.popen(f'{FN_SITL} --model copter --defaults {FN_PARAMS}')
 
         # use roslaunch to launch the application inside the ROS session
-        ros.launch('apm.launch', package='mavros', args={'fcu_url': 'tcp://127.0.0.1:5760@5760'})
+        ros.roslaunch('apm.launch', package='mavros', args={'fcu_url': 'tcp://127.0.0.1:5760@5760'})
 
         # to record all ROS topic data for 300 seconds
         with ros.record('filepath-on-host-machine.bag') as recorder:

docs/recipes/service_call.py

@@ -24,7 +24,7 @@
         ps_sitl = system.shell.popen(f'{FN_SITL} --model copter --defaults {FN_PARAMS}')
 
         # use roslaunch to launch the application inside the ROS session
-        ros.launch('apm.launch', package='mavros', args={'fcu_url': 'tcp://127.0.0.1:5760@5760'})
+        ros.roslaunch('apm.launch', package='mavros', args={'fcu_url': 'tcp://127.0.0.1:5760@5760'})
 
         # let's wait some time for the copter to become armable
         time.sleep(60)

setup.cfg

@@ -48,8 +48,9 @@ max-line-length = 79
 per-file-ignores =
   src/roswire/__init__.py:E402,F401
   src/roswire/proxy/__init__.py:F401
-  src/roswire/proxy/launch/__init__.py:F401
-  src/roswire/proxy/launch/reader.py:F811,E704
+  src/roswire/proxy/roslaunch/__init__.py:F401
+  src/roswire/proxy/roslaunch/config/__init__.py:F401
+  src/roswire/proxy/roslaunch/reader.py:F811,E704,E501
   src/roswire/definitions/__init__.py:F401
 
 [tox]

src/roswire/exceptions.py

@@ -6,6 +6,24 @@ class ROSWireException(Exception):
     """Base class used by all ROSWire exceptions."""
 
 
+@_attr.s(frozen=True, auto_exc=True, auto_attribs=True, str=False)
+class PackageNotFound(ValueError, ROSWireException):
+    """No package was found with a given name."""
+    package: str
+
+    def __str__(self) -> str:
+        return f"Could not find package with name: {self.package}"
+
+
+@_attr.s(frozen=True, auto_exc=True, auto_attribs=True, str=False)
+class LaunchFileNotFound(ValueError, ROSWireException):
+    """No launch file was found at the given path."""
+    path: str
+
+    def __str__(self) -> str:
+        return f"Could not find launch file at path: {self.path}"
+
+
 class FailedToParseLaunchFile(ROSWireException):
     """An attempt to parse a launch file failed."""
 

src/roswire/proxy/launch/__init__.py

@@ -1,20 +1,20 @@
 # -*- coding: utf-8 -*-
 __all__ = ('ROSCore',)
 
-from typing import Dict, List, Mapping, Optional, Union
+from typing import Dict, Optional
 import os
 import xmlrpc.client
-import shlex
 import time
 
 from loguru import logger
 import dockerblade
 
-from .bag import BagRecorder, BagPlayer
 from ..description import SystemDescription
 from ..exceptions import ROSWireException
+from .bag import BagRecorder, BagPlayer
 from .node import NodeManager
 from .parameters import ParameterServer
+from .roslaunch import ROSLaunchManager
 from .service import ServiceManager
 
 
@@ -29,6 +29,8 @@ class ROSCore:
         The XML-RPC connection to the ROS master.
     nodes: NodeManager
         Provides access to the nodes running on this ROS Master.
+    roslaunch: ROSLaunchManager
+        Provides access to roslaunch-related functionality.
     services: ServiceManager
         Provides access to the services advertised on this ROS Master.
     parameters: ParameterServer
@@ -65,6 +67,8 @@ def __init__(self,
                            self.__ip_address,
                            self.__connection,
                            self.__shell)
+        self.roslaunch: ROSLaunchManager = \
+            ROSLaunchManager(self.__shell, self.__files)
 
     @property
     def nodes(self) -> NodeManager:
@@ -90,63 +94,6 @@ def topic_to_type(self) -> Dict[str, str]:
             raise ROSWireException("bad API call!")
         return {name: typ for (name, typ) in result}
 
-    def launch(self,
-               filename: str,
-               *,
-               package: Optional[str] = None,
-               args: Optional[Dict[str, Union[int, str]]] = None,
-               prefix: Optional[str] = None,
-               launch_prefixes: Optional[Mapping[str, str]] = None
-               ) -> None:
-        """Provides an interface to roslaunch.
-
-        Parameters
-        ----------
-        filename: str
-            The name of the launch file, or an absolute path to the launch
-            file inside the container.
-        package: str, optional
-            The name of the package to which the launch file belongs.
-        args: Dict[str, Union[int, str]], optional
-            Keyword arguments that should be supplied to roslaunch.
-        prefix: str, optional
-            An optional prefix to add before the roslaunch command.
-        launch_prefixes: Mapping[str, str], optional
-            An optional mapping from nodes, given by their names, to their
-            individual launch prefix.
-        """
-        shell = self.__shell
-        if not args:
-            args = {}
-        if not launch_prefixes:
-            launch_prefixes = {}
-        launch_args: List[str] = [f'{arg}:={val}' for arg, val in args.items()]
-
-        if launch_prefixes:
-            m = "individual launch prefixes are not yet implemented"
-            raise NotImplementedError(m)
-
-        # determine the absolute path of the launch file
-        if package:
-            filename_original = filename
-            logger.debug(f'determing location of launch file [{filename}]'
-                         f' in package [{package}]')
-            package_escaped = shlex.quote(package)
-            find_package_command = f'rospack find {package_escaped}'
-            package_path = shell.check_output(find_package_command,
-                                              stderr=False)
-            filename = os.path.join(package_path, 'launch', filename)
-            logger.debug('determined location of launch file'
-                         f' [{filename_original}] in package [{package}]: '
-                         f'{filename}')
-
-        cmd = ['roslaunch', shlex.quote(filename)]
-        cmd += launch_args
-        if prefix:
-            cmd = [prefix] + cmd
-        cmd_str = ' '.join(cmd)
-        self.__shell.popen(cmd_str, stdout=False, stderr=False)
-
     def record(self,
                fn: str,
                exclude_topics: Optional[str] = None

src/roswire/proxy/launch/config.py

@@ -0,0 +1,2 @@
+# -*- coding: utf-8 -*-
+from .roslaunch import ROSLaunchManager

src/roswire/proxy/roscore.py

@@ -0,0 +1,7 @@
+# -*- coding: utf-8 -*-
+"""
+This module provides data structures for representing roslaunch configurations.
+"""
+from .launch import LaunchConfig
+from .node import NodeConfig
+from .parameter import Parameter