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Add run_name entry in app_manager to specify the node name #64

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Add run_name entry in app_manager to specify the node name #64

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18 changes: 17 additions & 1 deletion src/app_manager/app.py
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Original file line number Diff line number Diff line change
Expand Up @@ -218,6 +218,21 @@ def _AppDefinition_load_run_args_entry(app_data, appfile="UNKNOWN"):
except ValueError as e:
raise InvalidAppException("Malformed appfile [%s]: bad run_args entry: %s"%(appfile, e))


def _AppDefinition_load_run_name_entry(app_data, appfile="UNKNOWN"):
"""
@raise InvalidAppException: if app definition is invalid.
"""
# load/validate launch entry
try:
run_name = app_data.get('run_name', '')
if run_name == '':
return None
return run_name
except ValueError as e:
raise InvalidAppException("Malformed appfile [%s]: bad run_name entry: %s"%(appfile, e))


def _AppDefinition_load_run_entry(app_data, appfile="UNKNOWN", rospack=None):
"""
@raise InvalidAppExcetion: if app definition is invalid.
Expand All @@ -237,7 +252,8 @@ def _AppDefinition_load_run_entry(app_data, appfile="UNKNOWN", rospack=None):
# create node
p, a = roslib.names.package_resource_name(run_resource)
args = _AppDefinition_load_run_args_entry(app_data, appfile)
node = roslaunch.core.Node(p, a, args=args, output='screen')
name = _AppDefinition_load_run_name_entry(app_data, appfile)
node = roslaunch.core.Node(p, a, name=name, args=args, output='screen')
return node
except ValueError as e:
raise InvalidAppException("Malformed appfile [%s]: bad run entry: %s"%(appfile, e))
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