This is tangential, but you may want to look into using rostest to bring your test fixture up and down using roslaunch files
kwc (Jan 25)edit
Hello,
I'm writing some automated test scripts. I'd like to run a launch script with a bag file, which works fine. But when the rosbag play completes I would like roslaunch to exit so my script can load up a new bag file and rerun roslaunch with the test.launch file. Is there an elegant way to cause all ros nodes and roscore to exit when a bag file is finished? I was thinking of making another script to monitor when rosbag finished and then execute a rosnode kill, but I thought there might be a better way.
Thanks, Jason
If you're running all your nodes from the same launch file as the bag, just add requred="true" to the node tag for rosbag. This will cause the entire roslaunch to die when rosbag terminates.
I haven't tried this, but perhaps something like this:
rosbag play foo.bag; rosnode kill -a
I would personally do this via Bash. I assume that's what you're doing already, but here's how I would do it:
#!/bin/bash
rosbag play my_bag.bag
while [ ! "$(ps aux | grep bag | grep -v grep)" ] # or $(rosnode list | grep play)
do
sleep 1;
done
if [ "$(ps aux | grep ros | grep -v grep | awk '{print $2}')" ]; then # or $(rosnode list)
for i in $(ps aux | grep ros | grep -v grep | awk '{print $2}')
do
kill -2 $i;
done
fi
I use this because according to the rosnode kill documentation, it's not guaranteed to actually kill a node, especially when it's set to respawn. This function guarantees that they all die. You'd then be free to launch again. You could even put this all in a loop.
Asked: Jan 25
Seen: 161 times
Last updated: Jan 25
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