package fkie_multimaster_msgs.launch

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The launch manager service definition.

• rpc GetLoadedFiles (Empty, stream LoadedFile)

  launch.proto:38

  message LoadedFile

  launch.proto:132

  * Loaded launch file. :param package: ROS package name. :param launch: launch file in the package path. :param path: full path of the launch file. Will be preferred! :param args: arguments used to load this launch file. :param masteruri: starts nodes of this file with specified ROS_MASTER_URI. If host is empty, the nodes are started on the host specified by hostname of the masteruri. :param host: if not empty, the nodes of this launch file are launched on specified host.

  • string package = 1

  • string launch = 2

  • string path = 3

  • repeated Argument args = 4

  • string masteruri = 5

  • string host = 6

• rpc LoadLaunch (LoadLaunchRequest, LoadLaunchReply)

  launch.proto:39

  message LoadLaunchRequest

  launch.proto:68

  * The request message to list the ROS packages in given path. :param package: ROS package name :param launch: launch file in the package path. If the package contains more then one launch file with same name, you have to specify the sub-path with launch file. :param load_params: loads all parameter into ROS parameter server after successful load. :param args: arguments to load the launch file. If args are empty but the launch file needs them, the reply status has code PARAMS_REQUIRED and args list will be filled with requested args. :param force_first_file: use first file if more than one was found in the package. :param masteruri: starts nodes of this file with specified ROS_MASTER_URI. If host is empty, the nodes are started on the host specified by hostname of the masteruri. :param host: start nodes of this file on specified host.

  • string package = 1

  • string launch = 2

  • string path = 3

  • bool load_params = 4

  • repeated Argument args = 5

  • bool force_first_file = 6

  • bool request_args = 7

  • string masteruri = 8

  • string host = 9

• rpc ReloadLaunch (LaunchFile, LoadLaunchReply)

  launch.proto:40

• rpc UnloadLaunch (LaunchFile, LoadLaunchReply)

  launch.proto:41

• rpc GetNodes (ListNodesRequest, stream LaunchContent)

  launch.proto:42

  message ListNodesRequest

  launch.proto:146

  * Requests the nodes configured by this launch manager. :param launch_file: request the nodes only for specified launch files (full path). If empty, all will be returned. :param request_description: if True the :message:RobotDescription will be filled from each launch file. :param masteruri: for specified masteruri

  • repeated string launch_files = 1

  • bool request_description = 2

  • string masteruri = 3

  message LaunchContent

  launch.proto:160

  * Report the nodes of a launch file. :param launch_file: full path of the launch file with contains the reported nodes. :param masteruri: starts nodes of this file with specified ROS_MASTER_URI. If host is empty, the nodes are started on the host specified by hostname of the masteruri. :param host: if not empty, the nodes of this launch file are launched on specified host. :param node: list of node names. :param description: a list of robot descriptions :message:RobotDescription.

  • string launch_file = 1

  • string masteruri = 2

  • string host = 3

  • repeated string node = 4

  • repeated RobotDescription description = 5

  • repeated Nodelets nodelets = 6

  • repeated Associations associations = 7

• rpc StartNode (stream Node, stream StartNodeReply)

  launch.proto:43

• rpc StartStandaloneNode (StartConfig, StartNodeReply)

  launch.proto:44

• rpc GetIncludedFiles (IncludedFilesRequest, stream IncludedFilesReply)

  launch.proto:45

  message IncludedFilesRequest

  launch.proto:323

  * Requests included files for given path.

  • string path = 1

  • bool recursive = 2

  • bool unique = 3

  • repeated string pattern = 4

  • repeated string search_in_ext = 5

  • repeated Argument include_args = 6

  message IncludedFilesReply

  launch.proto:332

  • string root_path = 1

  • string path = 2

  • uint64 linenr = 3

  • bool exists = 4

  • uint64 size = 5

  • string rawname = 6

  • uint64 rec_depth = 7

  • repeated Argument include_args = 8

• rpc InterpretPath (InterpretPaths, stream InterpredPath)

  launch.proto:46

  message InterpretPaths

  launch.proto:254

  * List of string to interpret

  • repeated string paths = 1

  message InterpredPath

  launch.proto:259

  * Interpreted path result

  • string path = 1

  • bool exists = 2

  • optional ReturnStatus status = 3

• rpc GetMtime (LaunchFile, MtimeReply)

  launch.proto:47

  message MtimeReply

  launch.proto:95

  • string path = 1

  • double mtime = 2

  • repeated FileObj included_files = 3

• rpc GetChangedBinaries (Nodes, MtimeNodes)

  launch.proto:48

  message Nodes

  launch.proto:238

  * List with ROS-node names.

  • repeated string names = 1

  message MtimeNodes

  launch.proto:249

  * List with ROS-node names.

  • repeated MtimeNode nodes = 1

• rpc GetStartCfg (Node, StartCfgReply)

  launch.proto:49

  message StartCfgReply

  launch.proto:314

  * The response message with status of create configuration status :param status: the status of the create process. :param launch: a list with names launch files, only if MULTIPLE_LAUNCHES is returned. :param startcfg: Returns the start configuration.

  • optional ReturnStatus status = 1

  • string name = 2

  • repeated string launch = 3

  • optional StartConfig startcfg = 4

• rpc ResetPackageCache (Empty, Empty)

  launch.proto:50

Used in: IncludedFilesReply, IncludedFilesRequest, LoadLaunchReply, LoadLaunchRequest, LoadedFile, StartConfig

• string name = 1

• string value = 2

• int32 value_type = 3

• STRING = 0

• INT32 = 1

• DOUBLE = 2

• BOOL = 3

• LIST = 4

* Represents the associations specified in Launchfile. :param node: node (full name) :param nodes: list with associated nodes (full name).

Used in: LaunchContent

• string node = 1

• repeated string nodes = 2

* Capabilities defined in launch file. :param namespace: the ROS namespace of the capability. :param name: the name of the capability. :param type: the type of the capability. :param images: list of the images assigned to the this capability. :param description: the description of the capability. :param nodes: a list of nodes assigned to this group. The nodes are described by full ROS name (with namesspace).

Used in: RobotDescription

• string namespace = 1

• string name = 2

• string type = 3

• repeated string images = 4

• string description = 5

• repeated string nodes = 6

Used as request type in: LaunchService.GetLoadedFiles, LaunchService.ResetPackageCache

Used as response type in: LaunchService.ResetPackageCache

(message has no fields)

Used in: MtimeReply

• string path = 1

• double mtime = 2

Used as request type in: LaunchService.GetMtime, LaunchService.ReloadLaunch, LaunchService.UnloadLaunch

• string path = 1

• string masteruri = 2

* The response message with load status :param status: the status of the load process. :param path: the path of the launch file on this host. Multiple paths if more then one in the package found. :param mtime: time of last modification of path. The return value is a number giving the number of seconds since the epoch :param args: a list of requested arguments, only if PARAMS_REQUIRED is returned. :param changed_nodes: changed nodes (new nodes or changed parameter). Changes on global parameter are not handled! :param included_files: included files with last modification time. 0 if file does not exists.

Used as response type in: LaunchService.LoadLaunch, LaunchService.ReloadLaunch, LaunchService.UnloadLaunch

• optional ReturnStatus status = 1

• repeated string path = 2

• repeated Argument args = 3

• repeated string changed_nodes = 4

* List with ROS-node names.

Used in: MtimeNodes

• string name = 1

• double mtime = 2

* Starts a ROS node by full name. :param str name: full name of the ros node exists in the launch file. :param str opt_binary: the full path of the binary. Used in case of multiple binaries in the same package. :param str opt_launch: full name of the launch file to use. Used in case the node with same name exists in more then one loaded launch file. :param str loglevel: log level :param str cmd_prefix: custom command prefix. It will be prepended before launch prefix.

Used as request type in: LaunchService.GetStartCfg, LaunchService.StartNode

• string name = 1

• string opt_binary = 2

• string opt_launch = 3

• string loglevel = 4

• string logformat = 5

• string masteruri = 6

• bool reload_global_param = 7

• string cmd_prefix = 8

* Represents the nodelets specified in Launchfile. :param manager: nodelete manager :param nodes: list with nodes (full name) controlled by nodelet manager.

Used in: LaunchContent

• string manager = 1

• repeated string nodes = 2

Used in: StartConfig

• string from_name = 1

• string to_name = 2

* The status message included in replies.

Used in: InterpredPath, LoadLaunchReply, StartCfgReply, StartNodeReply

• sint32 code = 1

• string error_msg = 3

• OK = 0

• ERROR = 1

• ALREADY_OPEN = 2

• MULTIPLE_BINARIES = 3

• MULTIPLE_LAUNCHES = 4

• PARAMS_REQUIRED = 5

• FILE_NOT_FOUND = 6

• NODE_NOT_FOUND = 7

• PACKAGE_NOT_FOUND = 8

• CONNECTION_ERROR = 9

* Description of the robot configured by this launch file. :param machine: the address of the host. :param robot_name: robot name. :param robot_type: type of the robot. :param robot_images: list of the images assigned to the robot. :param robot_descr: some description. :param capabilities: a list of capabilities :message:Capability.

Used in: LaunchContent

• string machine = 1

• string robot_name = 2

• string robot_type = 3

• repeated string robot_images = 4

• string robot_descr = 5

• repeated Capability capabilities = 6

* Starts a ROS node without configurations. All parameter are set by this request.

Used as request type in: LaunchService.StartStandaloneNode

Used as field type in: StartCfgReply

• string package = 1

• string binary = 2

• string binary_path = 3

• string name = 4

• string namespace = 5

• string fullname = 6

• string prefix = 7

• string cwd = 8

• repeated Argument env = 9

• repeated Remapping remaps = 10

• repeated Argument params = 11

• repeated string clear_params = 12

• repeated string args = 13

• string masteruri = 14

• string host = 15

• string loglevel = 16

  FATAL, ERROR, WARN, INFO, DEBUG

• string logformat = 17

• bool respawn = 18

• double respawn_delay = 19

• sint32 respawn_max = 20

• double respawn_min_runtime = 21

* The response message with load status :param status: the status of the start process. :param path: a list of paths with binaries for a node, only if MULTIPLE_BINARIES is returned. :param launch: a list with names launch files, only if MULTIPLE_LAUNCHES is returned.

Used as response type in: LaunchService.StartNode, LaunchService.StartStandaloneNode

• optional ReturnStatus status = 1

• string name = 2

• repeated string path = 3

• repeated string launch = 4