update master (#22)

* core: launch_config: parse attributes in parent context

and make it mutable (required for $(anon))

* core: launch_config: handle $(anon) in ParseContext, see xqms#100

* core: test: node_utils: more debug output

* core: test: test_subst: test for nested $(anon), see xqms#100

* fix two typos in the README

* rosmon_core: fix a lot of whitespace issues introduced in xqms#76

* rosmon_core: option to obey output="XY" tags (see xqms#108)

Co-authored-by: Roger Pi <u1926981@campus.udg.edu>

* rosmon_core: unit test for output-attr parsing, refs xqms#108

* fix xqms#110

* rosmon_core: do not print node prefix in --disable-ui mode

--disable-ui is mostly used with ncurses-like nodes that have problems
with such additional outputs.

* rosmon_core: node_monitor: flush out remaining node output after node exit

* rosmon_core: new rosmon-disable-ui attribute for problematic launch files

* core: launch_config: accept empty yaml node

* rosmon_core: LaunchConfig warnings to stderr & make them captureable

* rosmon_core: test: unit tests for the warnings we trigger

* rosmon_core: Add YAML merge key parsing functionality.

* rosmon_core: Adding fix for rosparam parsing to equivilate with undocumented behavior of roslaunch

* rosmon_core: test: unit tests for merge keys feature

* rosmon_core: ui: UI DrawStatus optimized to only refresh on events.

* core: launch: add some comments & fix whitespace

* rosmon_core: depend on python2/3 conditioned on ROS_PYTHON_VERSION

* core: launch: add comments

* core: ui: just redraw on every keystroke

* core: launch: shift some node attributes into context

See xqms#116

* rosmon_core: parse scope attributes also for launch, include, group tags

* core: launch: make "enable-coredumps" a scoped attribute

* core: test: add test for scoped attributes on include tags

* core: monitor: support for systemd-coredump

* core: monitor: delete working directories from two runs ago

* capture stderr separately and correctly do output=log

* roscore: test: Fixing unit tests for stdout_stderr mod

* Adding alt. stderr output filter

* CHANGELOG

* CHANGELOG

* 2.3.0

* rosmon_core: cmake: request specific boost_python3 version

* rosmon_core: test: adapt test_node to python 3

* CHANGELOG

* 2.3.1

* rosmon_core: *really* fix search for boost_python for python 3

* rosmon_core: cmake: increase minimum version to address policy warnings

* CHANGELOG

* 2.3.2

* rosmon_core: cmake: older cmake versions don't have GREATER_EQUAL

* all: increase cmake minimum version to 3.4

* README: add installation hint for rosmon_core

* core: launch_config: loadYAMLParams: don't scope keys with leading slash

See xqms#130 for bug report. Basically, roslaunch respects leading slashes
during key resolution, we don't. We don't know what's better, but we have
to match whatever roslaunch is doing, as always.

* core: test: xml: rosparam: test leading slashes in keys

* core: consolidate floating point types used for stats

Fixes problems identified with -Wfloat-conversion

* core: ui: explicit float casts

Fixes problems identified with -Wfloat-conversion.

* rqt: make float/int casts explicit

Identified with -Wfloat-conversion.

* rosmon_core: env-hooks: follow symbolic links during file name suggestion

This fixes bash completion for colcon linked install spaces.

* core: substitution_python: catch by reference

Fixes a compiler warning on Ubuntu Focal.

* core: ui: display & search full name including namespace

* core: ui: use full name everywhere

* Start all and stop all options are added
F6 -> start all
F7 -> stop all

* core: launch: bytes_parser: add missing include

* Added option --stdout-print-source to print out node name when --disable-ui is used. Addresses xqms#139.

* Removed stdout-print-source option and print node name by default when --disable-ui is used. Right justify node names to the max node name length.

* core: fix compilation on Kinetic (boost::placeholders came later)

* core: monitor: do not leak stderr file descriptors

* core: launch_config: add warning for type= attrs on <param> tags on Kinetic

See xqms#138.

* update warning

* core: launch_config: strip off leading/trailing whitespace of params

* core: add utility to precisely dump ROS parameters

This is useful to analyze differences between roslaunch and rosmon in
parameter loading.

* core: launch_config: use double precision for auto type parameters

Previously we used floats, but XmlRpc stores doubles, so we should
make use of the full precision.

* core: launch_config: convert tabs + newlines in parameters

* core: test: add unit test for all sorts of whitespace in parameters

* core: test: basic.launch: make it work with roslaunch

* core: test: basic.py: adapt to fixed whitespace behavior

* core: fix aliasing problem using std::memcpy

* Resolves xqms#145 by providing a number of restarts threshold per node via ROS-launch arguments

* core: fix signed/unsigned comparison warning

* core: install tests (necessary for testing with colcon)

* core: monitor: use a second PTY for stderr, see xqms#147

* Inidicate when a node is actually Idle (e.g. stopped)

* Add missing dependency on libboost-pyhton-dev

Co-authored-by: Max Schwarz <max.schwarz@ais.uni-bonn.de>
Co-authored-by: Max Schwarz <max.schwarz@online.de>
Co-authored-by: Roger Pi <u1926981@campus.udg.edu>
Co-authored-by: Kazuhiro Hiratsuka <papino0319@gmail.com>
Co-authored-by: marco-tranzatto <marcot@ethz.ch>
Co-authored-by: Carl Colena <carl.colena@gmail.com>
Co-authored-by: Kutay YILMAZ <ktyylmz035@gmail.com>
Co-authored-by: Steve Golton <stevegolton@gmail.com>
Co-authored-by: mcfurry <f.b.f.schoenmakers@gmail.com>
Co-authored-by: Ferry Schoenmakers <ferry.schoenmakers@nobleo.nl>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>

README.md

@@ -11,9 +11,13 @@ developers.
 
 ## Installation & Quick start
 
-Official `rosmon` are available. On ROS Kinetic or Melodic (Ubuntu) simply do:
+Official `rosmon` packages are available. On ROS Kinetic or Melodic (Ubuntu) simply do:
 
-    sudo apt install ros-${ROSDISTRO}-rosmon
+    sudo apt install ros-${ROS_DISTRO}-rosmon
+
+In case you don't need the rqt GUI, you can install the core package only:
+
+    sudo apt install ros-${ROS_DISTRO}-rosmon-core
 
 Afterwards, try
 

rosmon/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package rosmon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2020-05-29)
+------------------
+
+2.3.1 (2020-05-28)
+------------------
+
+2.3.0 (2020-05-28)
+------------------
+* Fix Issue "Can not handle arguments with spaces" (PR #110)
+* Contributors: Kazuhiro Hiratsuka, Max Schwarz
+
 2.2.1 (2019-11-08)
 ------------------
 

rosmon/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.4)
 project(rosmon)
 
 find_package(catkin)

rosmon/package.xml

@@ -5,7 +5,7 @@
 		for the roslaunch tool, focused on performance, remote
 		monitoring, and usability.
 	</description>
-	<version>2.2.1</version>
+	<version>2.3.2</version>
 	<license>BSD</license>
 	<author email="max.schwarz@uni-bonn.de">Max Schwarz</author>
 	<maintainer email="max.schwarz@uni-bonn.de">Max Schwarz</maintainer>

rosmon/src/rosmon

@@ -1,2 +1,2 @@
 #!/bin/bash
-exec rosrun rosmon_core rosmon $*
+exec rosrun rosmon_core rosmon "$@"

rosmon_core/CHANGELOG.rst

@@ -2,6 +2,37 @@
 Changelog for package rosmon_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.2 (2020-05-29)
+------------------
+* rosmon_core: cmake: increase minimum version to address policy warnings
+* rosmon_core: *really* fix search for boost_python for python 3
+* Contributors: Max Schwarz
+
+2.3.1 (2020-05-28)
+------------------
+* Fix build issues on Debian connected to Boost & Python 3
+* Contributors: Max Schwarz
+
+2.3.0 (2020-05-28)
+------------------
+* Optionally filter stdout (INFO/DEBUG, PR #119)
+* Capture stderr separately and correctly do output=log (PR #119)
+* Prevent infinite coredump aggregation & support systemd-coredump (PR #125)
+* Support certain rosmon-* attributes on all scopes (fixes #116)
+* ui: UI DrawStatus optimized to only refresh on events (PR #121)
+* Adding fix for rosparam parsing to equivilate with undocumented behavior of roslaunch (PR #118)
+* depend on python2/3 conditioned on ROS_PYTHON_VERSION (PR #123)
+* Add YAML merge key parsing functionality (PR #117)
+* test: unit tests for the warnings we trigger
+* LaunchConfig warnings to stderr & make them captureable
+* rosmon_core: Handle empty yaml file (PR #114)
+* Improved support for nodes with terminal UI (PR #112)
+* Fix Issue "Can not handle arguments with spaces" (PR #111)
+* Option to obey output=XY tags (PR #109)
+* fix a lot of whitespace issues introduced in #76
+* Handle nesting with $(anon) subst correctly (PR #101)
+* Contributors: Carl Colena, Kazuhiro Hiratsuka, Max Schwarz, marco-tranzatto
+
 2.2.1 (2019-11-08)
 ------------------
 * correctly terminate execvp() arguments (issue: #102, PR: #103).

rosmon_core/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.4)
 project(rosmon_core)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -33,7 +33,15 @@ else()
 	message(WARNING "Please install libpython-dev (or equivalent) for $(eval ...) support")
 endif()
 
-find_package(Boost REQUIRED COMPONENTS python REQUIRED)
+# Newer boost versions need a specific python version
+if(${PYTHON_VERSION_MAJOR} GREATER 2)
+	set(boost_python_component "python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}")
+else()
+	set(boost_python_component "python")
+endif()
+message(STATUS "Searching for boost_python with keyword '${boost_python_component}'")
+
+find_package(Boost REQUIRED COMPONENTS ${boost_python_component} REQUIRED)
 include_directories(${Boost_INCLUDE_DIRS})
 
 # Specific feature tests
@@ -112,6 +120,12 @@ endif()
 add_executable(abort
 	src/util/abort.cpp
 )
+add_executable(dump_param
+	src/util/dump_param.cpp
+)
+target_link_libraries(dump_param
+	${catkin_LIBRARIES}
+)
 
 add_executable(abort_really_long_executable
 	src/util/abort.cpp
@@ -149,9 +163,11 @@ if(CATKIN_ENABLE_TESTING)
 	else()
 		message(WARNING "Install catch_ros to enable XML unit tests")
 	endif()
+
+	install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 endif()
 
-# Version 1.5 (increment this comment to trigger a CMake update)
+# Version 1.6 (increment this comment to trigger a CMake update)
 catkin_add_env_hooks(50-rosmon
 	SHELLS bash zsh
 	DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks

rosmon_core/env-hooks/50-rosmon.bash

@@ -10,7 +10,7 @@ function mon() {
 	case $1 in
 		launch)
 			shift
-			rosrun rosmon_core rosmon $*
+			rosrun rosmon_core rosmon "$@"
 			;;
 	esac
 }
@@ -68,7 +68,7 @@ function _mon() {
 			# If we have no launch file yet, offer launch files
 			elif [[ ( ! -f $package_name ) && -z $launch_name ]]; then
 				local package_dir="$(rospack find ${COMP_WORDS[2]})"
-				local launchfiles=$(find "$package_dir" -name '*.launch' -type f -printf "%f\n")
+				local launchfiles=$(find -L "$package_dir" -name '*.launch' -type f -printf "%f\n")
 				COMPREPLY=( $(compgen -W "${launchfiles} ${FLAGS[*]} ${OPTS[*]}" -- $cur) )
 
 			# Only arguments now

rosmon_core/env-hooks/50-rosmon.zsh

@@ -43,7 +43,7 @@ function _launch_file() {
 		_launch_arg
 	else
 		package=${line[2]}
-		files=("${(@f)$(find $(rospack find ${package}) -name '*.launch' -type f -printf "%f\n")}")
+		files=("${(@f)$(find -L $(rospack find ${package}) -name '*.launch' -type f -printf "%f\n")}")
 		if [[ $#files -gt 0 ]]; then
 			_values 'launch files' $files
 		fi

rosmon_core/package.xml

@@ -1,17 +1,18 @@
-<package format="2">
+<package format="3">
 	<name>rosmon_core</name>
 	<description>
 		Node launcher and monitor for ROS. rosmon is a replacement
 		for the roslaunch tool, focused on performance, remote
 		monitoring, and usability.
 	</description>
-	<version>2.2.1</version>
+	<version>2.3.2</version>
 	<license>BSD</license>
 	<author email="max.schwarz@uni-bonn.de">Max Schwarz</author>
 	<maintainer email="max.schwarz@uni-bonn.de">Max Schwarz</maintainer>
 
 	<buildtool_depend>catkin</buildtool_depend>
 	<depend>boost</depend>
+	<depend>libboost-python-dev</depend>
 	<depend>cmake_modules</depend>
 	<depend>libncurses-dev</depend>
 	<depend>rosfmt</depend>
@@ -24,10 +25,12 @@
 	<depend>tinyxml</depend>
 	<depend>yaml-cpp</depend>
 	<depend>diagnostic_msgs</depend>
-
-	<build_depend>python</build_depend>
 
-	<test_depend>python-rospkg</test_depend>
+	<build_depend condition="$ROS_PYTHON_VERSION == 2">python</build_depend>
+	<build_depend condition="$ROS_PYTHON_VERSION == 3">python3</build_depend>
+
+	<test_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</test_depend>
+	<test_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</test_depend>
 	<test_depend>rostest</test_depend>
 	<test_depend>catch_ros</test_depend>
 </package>

rosmon_core/src/diagnostics_publisher.cpp

@@ -85,10 +85,17 @@ void DiagnosticsPublisher::publish(const std::vector<NodeMonitor::Ptr>& state)
 		}
 		else
 		{
-			if(nodeState->restartCount() > 0)
+			if (nodeState->state() == NodeMonitor::STATE_IDLE)
+			{
+				msg = "node idle ";
+			}
+
+			if(nodeState->numRespawnsAllowed() >= 0 &&
+				 nodeState->restartCount() > static_cast<unsigned int>(nodeState->numRespawnsAllowed()))
 			{
 				nodeStatus.level = diagnostic_msgs::DiagnosticStatus::WARN;
-				msg = "restart count > 0! (" + std::to_string(nodeState->restartCount()) + ")";
+				msg += "restart count > " + std::to_string(nodeState->numRespawnsAllowed()) +
+							"! (" + std::to_string(nodeState->restartCount()) + ")";
 			}
 
 			if(nodeState->memory() > nodeState->memoryLimit())

rosmon_core/src/launch/bytes_parser.h

@@ -4,6 +4,8 @@
 #ifndef ROSMON_LAUNCH_BYTES_PARSER_H
 #define ROSMON_LAUNCH_BYTES_PARSER_H
 
+#include <cstdint>
+#include <string>
 #include <tuple>
 
 namespace rosmon