Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- Installation type:
- binaries
- Version or commit hash:
- humble,
ros-humble-launch=1.0.3-1jammy.20221019.125253. Also checked on1.0.4-1jammy.20230718.195748
- humble,
- DDS implementation:
- Fast-RTPS
Steps to reproduce issue
Run this file with ros2 launch ./test.launch.py
test.launch.py:
"""Launch file for testing."""
import asyncio as aio
import contextlib
import sys
import termios
from launch import LaunchDescription
from launch.actions import ExecuteProcess, OpaqueCoroutine
from launch.events.process import ProcessStdin
# From https://stackoverflow.com/questions/35223896/listen-to-keypress-with-asyncio
@contextlib.contextmanager
def raw_mode(file):
old_attrs = termios.tcgetattr(file.fileno())
new_attrs = old_attrs[:]
new_attrs[3] = new_attrs[3] & ~(termios.ECHO | termios.ICANON)
try:
termios.tcsetattr(file.fileno(), termios.TCSADRAIN, new_attrs)
yield
finally:
termios.tcsetattr(file.fileno(), termios.TCSADRAIN, old_attrs)
# Function to emit an event when a key is pressed
async def read_char_from_stdin(_launch_context, action=None):
with raw_mode(sys.stdin):
reader = aio.StreamReader()
loop = aio.get_event_loop()
await loop.connect_read_pipe(lambda: aio.StreamReaderProtocol(reader), sys.stdin)
while not reader.at_eof():
ch = await reader.read(1)
# '' means EOF, chr(4) means EOT (sent by CTRL+D on UNIX terminals)
if not ch or ord(ch) <= 4:
break
print(f'Got: {ch!r}')
pid = action.process_details['pid']
await _launch_context.emit_event(
event=ProcessStdin(
text=ch, action=action, name=action.name, cmd=action.cmd,
cwd=action.cwd, env=action.env, pid=pid))
def generate_launch_description():
"""Generate the args and items to launch."""
# Create the launch description and populate
ld = LaunchDescription()
cmd_list = ['ros2', 'bag', 'play', 'test_bag']
bag_runner = ExecuteProcess(
cmd=cmd_list,
emulate_tty=True,
)
ld.add_action(OpaqueCoroutine(coroutine=read_char_from_stdin, kwargs={'action': bag_runner}))
ld.add_action(bag_runner)
return ld
Once that is running, press space - the expected behavior is that the space character would be forwarded to the ExecuteProcess action which is playing back the bag (any bag will work for this test, so long as the name matches up).
However, when I press space (or really any character), I get this warning:
[WARNING] [ros2-1]: in ExecuteProcess('140309050411568').__on_process_stdin_event()
Expected behavior
The ProcessStdin event should forward data to the matching process.
Actual behavior
It looks like there's just a warning message. From looking into the code here, it appears as if the function is not really implemented, unless I'm missing something.
I think that ExecuteProcess may need some updating to correctly pipe data passed into the __on_process_stdin_event function to the underlying subprocess.