Calling the launch method of ROSLaunchManager would no longer return None and instead return a ROSLaunchController instance, allowing the user to interact with the underlying roslaunch process. Note that this change is fully backwards compatible as users can simply choose to ignore the return value as they do now.
At a minimum, the ROSLaunchController could expose the following methods:
terminate: terminates the underlying roslaunch process
close: alias for terminate
is_running: determines whether or not the underlying roslaunch process is running.
__enter__: does nothing; used to satisfy requirements of a context-managed object.
__exit__: closes the roslaunch via close
By adding __enter__ and __exit__, users can use the with keyword in conjuction with the ROSLaunchController instance to automatically close the launch process at the end of a context:
launch = roscore.roslaunch(...)
with launch:
# do stuff
# launch is dead!
with roscore.roslaunch(...) as launch:
# do stuff
# launch is dead!
There is also the possibility that the ROSLaunchController could expose the logs for its associated roslaunch process. This feature would be useful for debugging roslaunch processes that do not behave as expected.
Calling the
launchmethod ofROSLaunchManagerwould no longer returnNoneand instead return aROSLaunchControllerinstance, allowing the user to interact with the underlyingroslaunchprocess. Note that this change is fully backwards compatible as users can simply choose to ignore the return value as they do now.At a minimum, the
ROSLaunchControllercould expose the following methods:terminate: terminates the underlyingroslaunchprocessclose: alias forterminateis_running: determines whether or not the underlyingroslaunchprocess is running.__enter__: does nothing; used to satisfy requirements of a context-managed object.__exit__: closes theroslaunchviacloseBy adding
__enter__and__exit__, users can use thewithkeyword in conjuction with theROSLaunchControllerinstance to automatically close the launch process at the end of a context:There is also the possibility that the
ROSLaunchControllercould expose the logs for its associatedroslaunchprocess. This feature would be useful for debuggingroslaunchprocesses that do not behave as expected.