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only launch core nodes if master was launched by roslaunch #1327

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only launch core nodes if master was launched by roslaunch #1327

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10 changes: 8 additions & 2 deletions tools/roslaunch/src/roslaunch/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -382,6 +382,9 @@ def _launch_nodes(self):
def _launch_master(self):
"""
Launches master if requested.
@return: True if a master was launched, False if a master was
already running.
@rtype: bool
@raise RLException: if master launch fails
"""
m = self.config.master
Expand Down Expand Up @@ -426,6 +429,8 @@ def _launch_master(self):
self.logger.info("setting /roslaunch/uris/%s__%s' to %s"%(hostname, port, self.server_uri))
param_server.setParam(_ID, '/roslaunch/uris/%s__%s'%(hostname, port),self.server_uri)

return not is_running

def _check_and_set_run_id(self, param_server, run_id):
"""
Initialize self.run_id to existing value or setup parameter
Expand Down Expand Up @@ -627,8 +632,9 @@ def _setup(self):
self.remote_runner.add_process_listener(self.listeners)

# start up the core: master + core nodes defined in core.xml
self._launch_master()
self._launch_core_nodes()
launched = self._launch_master()
if launched:
self._launch_core_nodes()

# run exectuables marked as setup period. this will block
# until these executables exit. setup executable have to run
Expand Down