In ROS How do I start a ros node from the terminal? For example I'm looking to start the node /camera/camera_nodelet_manager but I have no idea how? Do I use rosrun and if so in what way?
Generally rosrun [package_name] [node_name] does the job. However, in many cases a node requires command-line arguments or parameters passed via *.launch (XML) files .
You can start a node with a launch file by executing roslaunch [package_name] [launch_file_name].
A Tab-Tab on roslaunch [package_name] will list you all launch files within the package.
For your specific case, it seems like you're working with openni_launch based on the manager name /camera/camera_nodelet_manager. If you just want to get openni_launch going, you can do
roslaunch openni_launch openni.launch
The nodelet manager is this executable. You can figure that out by looking at the openni.launch file:
<!-- Start nodelet manager in top-level namespace -->
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="$(arg debug)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>
It is launching a second launch file in the package rgbd_launch that starts the nodelet executable:
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg name)" args="manager"
output="screen" launch-prefix="$(arg launch_prefix)">
<param name="num_worker_threads" value="$(arg num_worker_threads)" />
</node>
But in the general case, the suggestions of #cassinaj are good, roslaunchand rosrun are the command line capabilities of ROS to start executable code.
Related
Upon trying to use the MKS task for apache ant, I need to specify the application executing the command. In the documentation I found, it says for example "si" or "im". I'm a little confused at this considered ant is used from command prompt so I'm not sure which application would be doing said command, nor do I know what applications "si" or "im" might be. I am using this task to try and send and receive build info to Integrity if that is pertinent. I was able to find this CLI reference guide for Integrity (link at bottom) which only uses im as a prefix, so I'm thinking that's the one I want to use, but I would appreciate an explanation as to what application im indicates (possible Integrity -something) and what one would specify with "si". Thanks
https://bugs.eclipse.org/bugs/attachment.cgi?id=52225
The si commands are used for Source Integrity tasks (the SCCM side of things), while the im commands are used for Integrity Manager commands (the workflow and document management side of things).
The Integrity client should have man page support on all platforms, so you should be able to run man im or man si to see a breakdown of all the supported commands.
In addition, with newer releases of the client, pressing F1 should get you a help interface, which includes documentation on CLI commands.
The guide to the link you posted is a very old version of the product CLI reference, and only for the im commands.
Since you're talking about using Ant, I'm assuming you're trying to perform builds, which will mostly involve si commands (creating sandboxes, checking out members, etc.).
Here are a couple examples of using si in ant:
<target name="check.mks.conn">
<echo message="Checking if an MKS connection exists. If not, one will be created." />
<exec executable="si" failonerror="true">
<arg line="connect" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--user=${mks.user}" />
<arg line="--gui" />
</exec>
</target>
<!-- =================================================================== -->
<!-- If the sandbox already exists, resync the files -->
<!-- Manually drop any empty folders as resync does not do this. -->
<!-- =================================================================== -->
<target name="resync.sandbox" unless="clean.build">
<exec executable="si" failonerror="true">
<arg line="resync" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="-R" />
<arg line="-f" />
<arg line="-Y" />
<arg line="-S ${basedir}\${prj.name}\project.pj" />
</exec>
<delete includeemptydirs="true">
<fileset dir="${prj.name}" excludes="**\*.*" />
</delete>
</target>
<!-- =================================================================== -->
<!-- Drop and recreate the sandbox. -->
<!-- =================================================================== -->
<target name="create.sandbox" if="clean.build" >
<exec executable="si">
<arg line="dropsandbox" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--noconfirm" />
<arg line="--batch" />
<arg line='--delete=none' />
<arg line="-Y" />
<arg line="${basedir}\${prj.name}\project.pj" />
</exec>
<delete dir="${prj.name}" />
<exec executable="si" resultproperty="createSBResult">
<arg line="createsandbox" />
<arg line="--hostname=${mks.server}" />
<arg line="--port=${mks.port}" />
<arg line="--project=c:/Projects/StoreWeb2/${prj.name}/project.pj" />
<arg line="--projectRevision=${checkpoint.version}" />
<arg line="--populate" />
<arg line="--recurse" />
<arg line="-Y" />
<arg line="${basedir}\${prj.name}" />
</exec>
<!-- Check if the project is empty but for the mks system file project.pj -->
<pathconvert property="is.project.not.empty" setonempty="false">
<fileset dir="${prj.name}">
<exclude name="project.pj"/>
</fileset>
</pathconvert>
<condition property="try.mainline.storeweb">
<not>
<and>
<equals arg1="0" arg2="${createSBResult}"/>
<isset property="is.project.not.empty" />
</and>
</not>
</condition>
<antcall target="create.sandbox.mainline">
<param name="prj.name" value="${prj.name}"/>
</antcall>
</target>
My aim is to use 2 kinects on one PC, one used to get laserscan for SLAM and another used for skeleton tracking.
Right now, I can use 2 kinects on one PC to get color image from one kinect and realize skeleton tracking on the other kinect.
But if I get laserscan from 1st kinect and simultaneously realize skeleton tracking on the other, the skeleton tracking works well while I can't get laserscan data in rviz.
The fact that I failed to get laserscan makes me suspect that whether it is possible that 1st kinect for laserscan&2nd kinect for skeleton tracking on one PC. Or whether my approach is wrong.The following is my approach:
roslaunch openni_launch test.launch(run 2 kinects in test.launch)
rosrun openni_tracker openni_tracker
rosrun rviz rviz(to see the skeleton tracking)
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect1/depth/image_raw
rosrun rviz rviz(to see the laserscan data)
and test.launch:
<launch>
<!-- Parameters possible to change-->
<arg name="camera1_id" default="#1" />
<arg name="camera2_id" default="#2" />
<arg name="depth_registration" default="true"/>
<!-- Default parameters-->
<arg name="camera1_name" default="kinect1" />
<arg name="camera2_name" default="openni" />
<!-- Putting the time back to realtime-->
<rosparam>
/use_sim_time : false
</rosparam>
<!-- Launching first kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera1_id)"/>
<arg name="camera" value="$(arg camera1_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
<!-- Launching second kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera2_id)"/>
<arg name="camera" value="$(arg camera2_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
</launch>
any idea or suggestion is appreciated! And thanks in advance!
I have junit tests that use selenium to test web server.
When i run the tests using ant from command line, everything is working fine, browser gets opened and tests are going as planed.Browser gets open and i can see tests running.
Recently ive tried to add automatic tests as part of Ci cycle running on jenkins.
I run it as ant build command.
I can see that ant is executing properly (test classes are built i can see output from tests to console) but browser window never gets opened and test fails because of it. here is my ant file
<?xml version="1.0"?>
<project name="JUNIT" default="main" basedir="../../project" xmlns:artifact="antlib:org.apache.maven.artifact.ant">
<!-- Sets variables which can later be used. -->
<!-- The value of a property is accessed via ${} -->
<property name="api.dir" location="src/java" />
<property name="build.api.dir" location="target/classes" />
<property name="test.dir" location="src/test/java" />
<property name="build.test.dir" location="target" />
<!-- Variables used for JUnit testin -->
<property name="test.report.dir" location="testreport" />
<!-- Define the classpath which includes the junit.jar and the classes after compiling-->
<path id="api.class.path">
<pathelement location="${build.api.dir}" />
</path>
<artifact:dependencies cacheDependencyRefs="true" pathId="pomdeps.path">
<pom file="pom.xml"/>
</artifact:dependencies>
<target name="clean">
<delete dir="${test.report.dir}" />
<delete dir="${build.api.dir}" />
<delete dir="${build.test.dir}" />
</target> <!-- Creates the build, docs and dist directory-->
<target name="makedir">
<echo message="Make dir"/>
<mkdir dir="${build.test.dir}" />
<mkdir dir="${build.api.dir}" />
<mkdir dir="${test.report.dir}" />
</target> <!-- Compiles the java code (including the usage of library for JUnit -->
<target name="compile" depends="clean, makedir">
<echo message="Compile"/>
<javac srcdir="${api.dir}" destdir="${build.api.dir}" includeantruntime="false">
<!--classpath refid="junit.class.path" />
<classpath refid="libs.class.path" /-->
<classpath refid="pomdeps.path" />
</javac>
<javac srcdir="${test.dir}" destdir="${build.test.dir}" includeantruntime="false">
<!--classpath refid="junit.class.path" /-->
<classpath refid="api.class.path" />
<classpath refid="pomdeps.path" />
</javac>
</target>
<!-- Run the JUnit Tests --> <!-- Output is XML, could also be plain-->
<echo message="Classes folder ${build.test.dir}"/>
<target name="junit" depends="compile" >
<echo message="junit"/>
<junit printsummary="on" fork="false" haltonfailure="no" showoutput="true">
<classpath refid="pomdeps.path" />
<classpath>
<pathelement location="${build.test.dir}"/>
<pathelement location="${build.api.dir}"/>
</classpath>
<formatter usefile="false" type="plain"/>
<batchtest fork="no" todir="${test.report.dir}">
<fileset dir="${test.dir}">
<include name="**/*Test*.java"/>
</fileset>
</batchtest>
</junit>
</target>
<target name="main" depends="compile, junit">
<description>Main target</description>
</target>
</project>
Jenkins is 1.591 i installed it with default parameters as windows installation downloaded from their site.
Can it be something wrong with jenkins? Do i miss something?
As i mentioned earlier the problem was lack of UI permissions for Jenkins server.
1.configure Jenkins to run as service and make it login with real user name
2.Make sure that windows host that runs Jenkins logs on automaticaly after restart.
I'm attempting to publish a ClickOnce application using an MSBuild task within a NAnt script. The certificate is installed on the machine and I believe it's finding it, as it's now getting past an earlier problem of it not being able to get the certificate itself. However, it's now failing with the error:
[msbuild]
C:\Windows\Microsoft.NET\Framework\v4.0.30319\Microsoft.Common.targets(4512,5):
error MSB4044: The "SignFile" task was not given a value for the
required parameter "CertificateThumbprint"
The task currently is called like this:
<msbuild project="${SourceURL}/pathToProject/project.csproj" verbosity="Minimal">
<property name="Configuration" value="Client" />
<property name="Platform" value="AnyCPU" />
<arg value="/p:ApplicationVersion=${actualVersion}" />
<arg value="/p:CertificateThumbprint=XXX" />
<arg value="/p:ManifestCertificateThumbprint=XXX" />
<arg value="/t:publish" />
</msbuild>
How should I be passing the CertificateThumbprint into the publish task? I'm trying to avoid having to switch directly to using signtool or mage, since I'd like to keep it as close as possible to using Visual Studio directly as possible.
I use Sonar 4.1.1, Jboss 6.x, Jacoco 0.6.4, execute tasks with Ant I am not allowed to use Maven. In an eclipse workspace, I have two projects, one is the web application another is selenium test.
I am able to get unit test and code coverage for unit test. But sonar is not able to read the integration test file created by Jacoco. I think there might be something wrong with the way I create jacoco-it.exec file so sonar can't read it. Because sonar does read my jacoco-ut.exec file. And I am able to have both reportPath and itReportPath to read my jacoco-ut.exec file with no problem. Also thinking maybe is something wrong in my build file. I did a lot of research and tried many different ways to create the jacoco-it.exec file, different Jacoco settings and followed different examples from sonar, jacoco, other blogs but still doesn't work. I must be missing something Help!! Thanks!!
I have VM arguments for Jboss like this
-javaagent:/path to jar/jacocoagent.jar=destfile=/path for create/jacoco-it.exec
When I run selenium, the above code create a file with some data, size about 1.3MB
Here is the part of build relate to this issue
<property name="sonar.sourceEncoding" value="UTF-8" />
<property name="sonar.java.coveragePlugin" value="jacoco" />
<property name="sonar.core.codeCoveragePlugin" value="jacoco" />
<property name="sonar.dynamicAnalysis" value="reuseReports" />
<property name="sonar.jacoco.reportsPath" value="${reports.dir}/junit" />
<property name="sonar.jacoco.itReportPath" value="${reports.dir}/jacoco-it.exec" />
<property name="sonar.jacoco.reportPath" value="${reports.dir}/jacoco-ut.exec" />
<target name="unitTest" depends="compile">
<taskdef name="junit" classname="org.apache.tools.ant.taskdefs.optional.junit.JUnitTask">
<classpath>
<path refid="classpath"/>
</classpath>
</taskdef>
<!-- Import the JaCoCo Ant Task -->
<taskdef uri="antlib:org.jacoco.ant" resource="org/jacoco/ant/antlib.xml">
<classpath refid="classpath"/>
</taskdef>
<!-- Run your unit tests, adding the JaCoCo agent -->
<jacoco:coverage destfile="reports/jacoco-ut.exec" xmlns:jacoco="antlib:org.jacoco.ant">
<junit printsummary="yes" haltonfailure="yes" forkmode="once" fork="true" dir="${basedir}" failureProperty="test.failed">
<classpath location="${classes.dir}" />
<classpath refid="classpath"/>
<formatter type="plain" />
<formatter type="xml" />
<batchtest fork="true" todir="${reports.junit.xml.dir}">
<fileset dir="src">
<include name="**/*TestAdd.java" />
</fileset>
</batchtest>
</junit>
</jacoco:coverage>
</target>
<target name="coverageTest" depends="compile">
<taskdef name="junit" classname="org.apache.tools.ant.taskdefs.optional.junit.JUnitTask">
<classpath>
<path refid="classpath"/>
</classpath>
</taskdef>
<taskdef uri="antlib:org.jacoco.ant" resource="org/jacoco/ant/antlib.xml">
<classpath refid="classpath"/>
</taskdef>
<!--Run your unit tests, adding the JaCoCo agent-->
<jacoco:coverage xmlns:jacoco="antlib:org.jacoco.ant" dumponexit="true" >
<junit printsummary="yes" haltonfailure="yes" forkmode="once" fork="true" dir="${basedir}" failureProperty="test.failed">
<classpath location="${classes.dir}"/>
<classpath refid="classpath"/>
<formatter type="plain" />
<formatter type="xml" />
<formatter type="plain" usefile="false"/>
<batchtest todir="${reports.junit.xml.dir}">
<fileset dir="../HelloAppTest/src">
<include name="**/answerTest.java"/>
</fileset>
</batchtest>
</junit>
</jacoco:coverage>
</target>
The reason for that is, may be you are NOT attaching Jacocoagent.jar file to the "TARGET" (ex: JBoss / Tomcat) JVM's scope and stopping it so that it can flush the final code coverage data to the jacoco it exec file.
Once you do that (instead of using Maven/ANT's JVM scope), run your non-Unit (IT) tests and then STOP the target JVM.
After the target JVM is stopped, you'll get the final jacoco .exec file genreated for the IT tests. Use that file for sonar.jacoco.itReportPath variable and it'll work.
For ex: I pass/have this variable to the Tomcat's startup.sh script and while starting tomcat (target JVM), I use this variable within the Tomcat's actual start command.
PROJ_EXTRA_JVM_OPTS=-javaagent:tomcat/jacocoagent.jar=destfile=build/jacoco/IT/jacocoIT.exec,append=false