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added execute argument to rosparam, to load the output of a command as yaml #1170

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added execute argument to rosparam, to load the output of a command as yaml #1170

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35 changes: 32 additions & 3 deletions tools/roslaunch/src/roslaunch/loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -364,7 +364,7 @@ def add_param(self, ros_config, param_name, param_value, verbose=True):
else:
ros_config.add_param(Param(param_name, param_value), verbose=verbose)

def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=True):
def load_rosparam(self, context, ros_config, cmd, param, file_, execute, text, verbose=True):
"""
Load rosparam setting

Expand All @@ -376,7 +376,9 @@ def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=Tr
@type cmd: str
@param file_: filename for rosparam to use or None
@type file_: str
@param text: text for rosparam to load. Ignored if file_ is set.
@param execute: command to execute for rosparam load or None
@type execute: str
@param text: text for rosparam to load. Ignored if file_ or execute are set.
@type text: str
@raise ValueError: if parameters cannot be processed into valid rosparam setting
"""
Expand All @@ -387,7 +389,12 @@ def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=Tr
raise ValueError("file does not exist [%s]"%file_)
if cmd == 'delete':
raise ValueError("'file' attribute is invalid with 'delete' command.")

elif execute is not None:
if cmd == 'delete':
raise ValueError("'execute' attribute is invalid with 'delete' command.")
if cmd == 'dump':
raise ValueError("'execute' attribute is invalid with 'dump' command.")

full_param = ns_join(context.ns, param) if param else context.ns

if cmd == 'dump':
Expand All @@ -399,6 +406,28 @@ def load_rosparam(self, context, ros_config, cmd, param, file_, text, verbose=Tr
if file_:
with open(file_, 'r') as f:
text = f.read()
elif execute:
try:
if type(execute) == unicode:
execute = execute.encode('utf-8') #attempt to force to string for shlex/subprocess
except NameError:
pass
if verbose:
print("... executing command param [%s]" % execute)
import subprocess, shlex #shlex rocks
try:
p = subprocess.Popen(shlex.split(execute), stdout=subprocess.PIPE)
text = p.communicate()[0]
if not isinstance(text, str):
text = text.decode('utf-8')
if p.returncode != 0:
raise ValueError("Cannot load command parameter [%s]: command [%s] returned with code [%s]"%(name, execute, p.returncode))
except OSError as e:
if e.errno == 2:
raise ValueError("Cannot load command parameter [%s]: no such command [%s]"%(name, execute))
raise
if text is None:
raise ValueError("parameter: unable to get output of command [%s]"%execute)

# parse YAML text
# - lazy import: we have to import rosparam in oder to to configure the YAML constructors
Expand Down
6 changes: 3 additions & 3 deletions tools/roslaunch/src/roslaunch/xmlloader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -222,12 +222,12 @@ def _check_attrs(self, tag, context, ros_config, attrs):
# 'ns' attribute is now deprecated and is an alias for
# 'param'. 'param' is required if the value is a non-dictionary
# type
ROSPARAM_OPT_ATTRS = ('command', 'ns', 'file', 'param', 'subst_value')
ROSPARAM_OPT_ATTRS = ('command', 'ns', 'file', 'execute', 'param', 'subst_value')
@ifunless
def _rosparam_tag(self, tag, context, ros_config, verbose=True):
try:
self._check_attrs(tag, context, ros_config, XmlLoader.ROSPARAM_OPT_ATTRS)
cmd, ns, file, param, subst_value = self.opt_attrs(tag, context, (XmlLoader.ROSPARAM_OPT_ATTRS))
cmd, ns, file, execute, param, subst_value = self.opt_attrs(tag, context, (XmlLoader.ROSPARAM_OPT_ATTRS))
subst_value = _bool_attr(subst_value, False, 'subst_value')
# ns atribute is a bit out-moded and is only left in for backwards compatibility
param = ns_join(ns or '', param or '')
Expand All @@ -237,7 +237,7 @@ def _rosparam_tag(self, tag, context, ros_config, verbose=True):
value = _get_text(tag)
if subst_value:
value = self.resolve_args(value, context)
self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose)
self.load_rosparam(context, ros_config, cmd, param, file, execute, value, verbose=verbose)

except ValueError as e:
raise loader.LoadException("error loading <rosparam> tag: \n\t"+str(e)+"\nXML is %s"%tag.toxml())
Expand Down