robot_upstart install启动命令参数分析
命令示例
rosrun robot_upstart install --interface lo --master "http://127.0.0.1:11311" --user root --setup /home/test/ros_ws/setup.bash test_bringup/launch/test_start.launch --logdir /home/test/logs
没有指定job（service）名称就用“test_bringup”中的"test"
参数说明
usage: install [-h] [--job JOB] [--interface ethN] [--user NAME]
[--setup path/to/setup.bash] [--rosdistro DISTRO]
[--master http://MASTER:11311] [--logdir path/to/logs]
[--augment] [--provider [upstart|systemd]] [--symlink]
pkg/path [pkg/path ...]
--job 指定job(service)名称，如果没有制定，就使用package中的一部分 (一般为‘_’之前的单词）
--interface 指定网络接口
--user 指定用户启动launch脚本
--setup 指定使用特殊工程下的setup.bash文件。
--rosdistro 指定ros的发布版本
--master 指定ROS_MASTER_URI
--logdir 指定日志文件目录
--augment=False 不创建job，只是拷贝用户文件。默认job已经创建成功
pkg/path 安装job launch的package和path名称，保持路径以包名开头(不可使用绝对或workspace最top路径)
--provider 指定 provider 在无法自动检测正确的 provider 情况下
--symlink=False 创建软链接，而不是拷贝启动脚本。
成功执行后，说明
- /etc/init/下生成 test.conf
# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.
description "bringup test"
start on local-filesystems
stop on runlevel [016]
console log
respawn
exec test-start
pre-stop exec test-stop
- /etc/ros下产生
/etc/ros$ tree
.
├── indigo
│ └── test.d
│ ├── test_start.launch
└── rosdep
└── sources.list.d
└── 20-default.list
4 directories, 3 files
其中 test.d下有
/etc/ros/indigo/test.d$ cat .installed_files
/etc/ros/indigo/test.d/test_start.launch
/etc/ros/indigo/test.d/.installed_files
/usr/sbin/test-stop
/usr/sbin/test-start
/etc/init/test.conf
- 查看日志
sudo tail -f -n 10 /var/log/upstart/test.log
启动时的log和节点运行的log都在这里面 （注意：这个test.log为服务名）
如果launch启动失败，会提示log记录的全路径，按照提示就是能找到launch启动失败的详细信息，可以帮助问题定位。
额外信息
cat /usr/sbin/test-start
#!/bin/bash
# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.
function log() {
logger -s -p user.$1 ${@:2}
}
log info "test: Using workspace setup file /home/test/ros_ws/install/setup.bash"
source /home/test/ros_ws/install/setup.bash
JOB_FOLDER=/etc/ros/indigo/test.d
log_path="/home/test/logs"
if [[ ! -d $log_path ]]; then
CREATED_LOGDIR=true
trap 'CREATED_LOGDIR=false' ERR
log warn "test: The log directory you specified \"$log_path\" does not exist. Attempting to create."
mkdir -p $log_path 2>/dev/null
chown root:root $log_path 2>/dev/null
chmod ug+wr $log_path 2>/dev/null
trap - ERR
# if log_path could not be created, default to tmp
if [[ $CREATED_LOGDIR == false ]]; then
log warn "test: The log directory you specified \"$log_path\" cannot be created. Defaulting to \"/tmp\"!"
log_path="/tmp"
fi
fi
export ROS_HOSTNAME=$(hostname)
export ROS_MASTER_URI=http://127.0.0.1:11311
log info "test: Launching ROS_HOSTNAME=$ROS_HOSTNAME, ROS_IP=$ROS_IP, ROS_MASTER_URI=$ROS_MASTER_URI, ROS_LOG_DIR=$log_path"
# If xacro files are present in job folder, generate and expand an amalgamated urdf.
XACRO_FILENAME=$log_path/test.xacro
XACRO_ROBOT_NAME=$(echo "test" | cut -d- -f1)
rosrun robot_upstart mkxacro $JOB_FOLDER $XACRO_ROBOT_NAME > $XACRO_FILENAME
if [[ "$?" == "0" ]]; then
URDF_FILENAME=$log_path/test.urdf
rosrun xacro xacro $XACRO_FILENAME -o $URDF_FILENAME
if [[ "$?" == "0" ]]; then
log info "test: Generated URDF: $URDF_FILENAME"
else
log warn "test: URDF macro expansion failure. Robot description will not function."
fi
export ROBOT_URDF_FILENAME=$URDF_FILENAME
fi
# Assemble amalgamated launchfile.
LAUNCH_FILENAME=$log_path/test.launch
rosrun robot_upstart mklaunch $JOB_FOLDER > $LAUNCH_FILENAME
if [[ "$?" != "0" ]]; then
log err "test: Unable to generate amalgamated launchfile."
exit 1
fi
log info "test: Generated launchfile: $LAUNCH_FILENAME"
# Warn and exit if setuidgid is missing from the system.
which setuidgid > /dev/null
if [ "$?" != "0" ]; then
log err "test: Can't launch as unprivileged user without setuidgid. Please install daemontools package."
exit 1
fi
# Punch it.
export ROS_HOME=$(echo ~root)/.ros
export ROS_LOG_DIR=$log_path
setuidgid root roslaunch $LAUNCH_FILENAME &
PID=$!
log info "test: Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"
echo "$PID" > $log_path/test.pid
wait "$PID"
cat /usr/sbin/test-stop
#!/bin/bash
# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.
PID=$(cat /home/test/logs/test.pid)
logger -p user.info "Attempting to stop test (PID $PID)"
kill $PID
