A GUI for configuring launch-files #253
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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(roslaunch_editor) | ||
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| find_package(catkin REQUIRED COMPONENTS message_generation) | ||
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| add_message_files( | ||
| FILES | ||
| LaunchFile.msg | ||
| ) | ||
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| add_service_files( | ||
| FILES | ||
| ReadLaunchFiles.srv | ||
| WriteLaunchFiles.srv | ||
| ) | ||
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| generate_messages( | ||
| DEPENDENCIES | ||
| # std_msgs # Or other packages containing msgs | ||
| ) | ||
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| catkin_package( | ||
| # INCLUDE_DIRS include | ||
| # LIBRARIES roslaunch_editor | ||
| # CATKIN_DEPENDS other_catkin_pkg | ||
| # DEPENDS system_lib | ||
| ) | ||
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| ############# | ||
| ## Install ## | ||
| ############# | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # install(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark executables for installation | ||
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html | ||
| # install(TARGETS ${PROJECT_NAME}_node | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark libraries for installation | ||
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html | ||
| # install(TARGETS ${PROJECT_NAME} | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| # install(FILES | ||
| # # myfile1 | ||
| # # myfile2 | ||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # ) | ||
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|
There was a problem hiding this comment. You really want to add something like |
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_roslaunch_editor.cpp) | ||
| # if(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # endif() | ||
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) | ||
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| # roslaunch_editor | ||
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| Web-based ROS launch-files editor, created for making configuration of your robot more user-friendly for novices. | ||
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| <img src="roslaunch_editor.jpg" width=450> | ||
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| ## Quick launch | ||
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| ```bash | ||
| roslaunch roslaunch_editor example.launch | ||
| ``` | ||
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| Then, open `http://localhost:8085/roslaunch_editor/` and edit the test launch file. | ||
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| ## Modes | ||
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| `roslaunch_editor` works in two modes: standalone mode (where running `editor` node is required), and Clover mode (where `clover`'s `shell` node, `roswww_static` and `rosbridge_suite` are utilized). The editor will read and write launch-files and restart the nodes (if configured) using one of these nodes. | ||
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There was a problem hiding this comment. Honestly, I'd prefer a single (standalone) mode. We've discussed |
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| The mode is determined automatically, based on advertised ROS-services. | ||
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| ## Parameters | ||
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| * `items` (`string` or `list`) – launch files to edit, format: `package_name/launch_file_name.launch`. | ||
| * `hide_uncommented` (`boolean`, default: `false`) – don't show arguments without comments. | ||
| * `apply_command` (`string`, default: `''`) – shell command to execute after writing launch-files (e. g. to restart the systemd service). | ||
| * `backup` (`boolean`, default: `false`) – backup overwritten launch-files (backup is written to `file_name.launch.bak`). | ||
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| Some parameters (`items`, `hide_uncommented`) can be overwritten over GET-parameters, e. g. `?items=package/foo.launch,package/bar.launch&hide_uncommented=1`. | ||
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| <launch> | ||
| <include file="$(find roswww)/launch/roswww.launch"/> | ||
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| <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/> | ||
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| <node name="roslaunch_editor" pkg="roslaunch_editor" type="editor"> | ||
| <param name="items" type="yaml" value="[roslaunch_editor/test.launch]"/> | ||
| <param name="reference_frames/base_link" value="map"/> | ||
| <param name="reference_frames/navigate_target" value="map"/> | ||
| </node> | ||
| </launch> |
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| string package | ||
| string name | ||
| string content |
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| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>roslaunch_editor</name> | ||
| <version>0.0.0</version> | ||
| <description>Web based roslaunch files editor</description> | ||
| <maintainer email="[email protected]">Oleg Kalachev</maintainer> | ||
| <license>MIT</license> | ||
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| <!-- Url tags are optional, but multiple are allowed, one per tag --> | ||
| <!-- Optional attribute type can be: website, bugtracker, or repository --> | ||
| <url type="repository">https://github.com/CopterExpress/clover</url> | ||
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| <!-- Author tags are optional, multiple are allowed, one per tag --> | ||
| <!-- Authors do not have to be maintainers, but could be --> | ||
| <author email="[email protected]">Oleg Kalachev</author> | ||
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| <!-- The *depend tags are used to specify dependencies --> | ||
| <!-- Dependencies can be catkin packages or system dependencies --> | ||
| <!-- Examples: --> | ||
| <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> | ||
| <!-- <depend>roscpp</depend> --> | ||
| <!-- Note that this is equivalent to the following: --> | ||
| <!-- <build_depend>roscpp</build_depend> --> | ||
| <!-- <exec_depend>roscpp</exec_depend> --> | ||
| <!-- Use build_depend for packages you need at compile time: --> | ||
| <!-- <build_depend>message_generation</build_depend> --> | ||
| <!-- Use build_export_depend for packages you need in order to build against this package: --> | ||
| <!-- <build_export_depend>message_generation</build_export_depend> --> | ||
| <!-- Use buildtool_depend for build tool packages: --> | ||
| <!-- <buildtool_depend>catkin</buildtool_depend> --> | ||
| <!-- Use exec_depend for packages you need at runtime: --> | ||
| <!-- <exec_depend>message_runtime</exec_depend> --> | ||
| <!-- Use test_depend for packages you need only for testing: --> | ||
| <!-- <test_depend>gtest</test_depend> --> | ||
| <!-- Use doc_depend for packages you need only for building documentation: --> | ||
| <!-- <doc_depend>doxygen</doc_depend> --> | ||
| <buildtool_depend>catkin</buildtool_depend> | ||
| <depend>message_generation</depend> | ||
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| <!-- The export tag contains other, unspecified, tags --> | ||
| <export> | ||
| <!-- Other tools can request additional information be placed here --> | ||
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| </export> | ||
| </package> |
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| #!/usr/bin/env python | ||
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| import rospy | ||
| import os | ||
| import shutil | ||
| import rospkg | ||
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| from std_srvs.srv import Trigger | ||
| from roslaunch_editor.srv import ReadLaunchFiles, ReadLaunchFilesResponse, WriteLaunchFiles | ||
| from roslaunch_editor.msg import LaunchFile | ||
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| rospy.init_node('roslaunch_editor') | ||
| rospack = rospkg.RosPack() | ||
| backup = rospy.get_param('~backup', True) | ||
| apply_command = rospy.get_param('~apply_command', '') | ||
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| def get_launch_file_path(package, name): | ||
| path = rospack.get_path(package) | ||
| for root, dirnames, filenames in os.walk(path): | ||
| if name in filenames: | ||
| return os.path.join(root, name) | ||
| raise Exception('Launch file %s/%s not found' % (package, name)) | ||
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| def read(req): | ||
| try: | ||
| res = ReadLaunchFilesResponse() | ||
| for launch_file in req.files: | ||
| path = get_launch_file_path(launch_file.package, launch_file.name) | ||
| rospy.loginfo('read file %s', path) | ||
| launch_file.content = open(path, 'r').read() | ||
| res.files.append(launch_file) | ||
| res.success = True | ||
| return res | ||
| except Exception as e: | ||
| rospy.logerr(str(e)) | ||
| return {'success': False, 'message': str(e)} | ||
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| def write(req): | ||
| try: | ||
| # write files | ||
| for launch_file in req.files: | ||
| if not launch_file.name.endswith('.launch'): | ||
| raise Exception('Launch file name should end with .launch') | ||
| path = get_launch_file_path(launch_file.package, launch_file.name) | ||
| rospy.loginfo('write file %s', path) | ||
| if backup: | ||
| shutil.copyfile(path, path + '.bak.launch') | ||
| with open(path, 'w') as f: | ||
| f.write(launch_file.content) | ||
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| # restart the system | ||
| if not apply_command: | ||
| return {'success': True} | ||
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| rospy.loginfo('apply: %s', apply_command) | ||
| res = os.system(apply_command) | ||
| if res == 0: | ||
| return {'success': True} | ||
| else: | ||
| return {'success': False, 'message': 'Error invoking %s' % apply_command} | ||
| except Exception as e: | ||
| rospy.logerr(str(e)) | ||
| return {'success': False, 'message': str(e)} | ||
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| rospy.Service('~read', ReadLaunchFiles, read) | ||
| rospy.Service('~write', WriteLaunchFiles, write) | ||
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| rospy.spin() |
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| # Read launch-files | ||
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| LaunchFile[] files # content field is ignored | ||
| --- | ||
| bool success | ||
| string message | ||
| LaunchFile[] files |
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| # Write launch-files and apply (restart the system) | ||
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| LaunchFile[] files | ||
| --- | ||
| bool success | ||
| string message |
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Maybe we could have a set of default notifications and append to it somehow?
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Don't completely get what you mean.