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Set roslaunch namespace #109

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Set roslaunch namespace #109

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acd6978
add roslaunch_ns
Nov 4, 2021
d935600
templates/job-start.em: add roslaunch_log_opt
Dec 15, 2021
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3 changes: 3 additions & 0 deletions src/robot_upstart/job.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,9 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
# This will be desired if the nodes spawned by this job are intended to
# connect to an existing master.
self.roslaunch_wait = False

# Set the roslaunch namespace
self.roslaunch_ns = ""

# Set the string of the "After=" section
# of the generated Systemd service file
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19 changes: 18 additions & 1 deletion templates/job-start.em
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Expand Up @@ -28,6 +28,23 @@
#!/bin/bash
# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.

roslaunch_log_opt="--log"

while getopts ":s" opt; do
case $opt in
s)
roslaunch_log_opt="--screen"
;;
:)
echo "Option -$OPTARG requires an argument."
exit 1
;;
?)
echo "Invalid option: -$OPTARG index:$OPTIND"
;;
esac
done

function log() {
logger -s -p user.$1 ${@@:2}
}
Expand Down Expand Up @@ -104,7 +121,7 @@ if [ "$?" != "0" ]; then
fi

# Punch it.
setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME __ns:=@(roslaunch_ns) @(roslaunch_wait?'--wait ') $roslaunch_log_opt&
PID=$!

log info "@(name): Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"
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