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Add check on carriers for yarpserver --ros #1679

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merged 2 commits into from
May 10, 2018
Merged

Add check on carriers for yarpserver --ros #1679

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ceadca9
yarpserver: abort if `rossrv` or `tcpros` or `xmlrpc` are not found when
Nicogene May 9, 2018
93ae90e
Update release notes
Nicogene May 9, 2018
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6 changes: 6 additions & 0 deletions doc/release/v2_3_72_1.md
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@ Bug Fixes
* Fixed `RGBDSensorWrapper` compatibilty with `frameGrabberGui2`.
* Fixed joint remapping in method `getRefVelocity()`.

#### `YARP_serversql`

* Added check if `rossrv`, `tcpros` and `xmlrpc` are installed when
yarpserver is launched with `--ros` option. (#722)


#### `YARP_OS`

* Added timeout parameter in `TcpConnector::connect()` to unify behaviour with the
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12 changes: 12 additions & 0 deletions src/libYARP_serversql/src/yarpserver.cpp
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Expand Up @@ -20,6 +20,7 @@
#include <yarp/os/all.h>
#include <yarp/os/Os.h>
#include <yarp/os/RosNameSpace.h>
#include <yarp/os/Carriers.h>

#include <yarp/name/NameServerManager.h>
#include <yarp/name/BootstrapServer.h>
Expand Down Expand Up @@ -166,6 +167,17 @@ class NameServerContainer : public ComposedNameService
}

if (options.check("ros") || NetworkBase::getEnvironment("YARP_USE_ROS")!="") {
yarp::os::Bottle lst = yarp::os::Carriers::listCarriers();
std::string lstStr(lst.toString().c_str());
if (lstStr.find("rossrv") == std::string::npos ||
lstStr.find("tcpros") == std::string::npos ||
lstStr.find("xmlrpc") == std::string::npos) {
fprintf(stderr,"Missing one or more required carriers ");
fprintf(stderr,"for yarpserver --ros (rossrv, tcpros, xmlrpc).\n");
fprintf(stderr,"Run 'yarp connect --list-carriers' to see carriers on your machine\n");
fprintf(stderr,"Aborting.\n");
return false;
}
ConstString addr = NetworkBase::getEnvironment("ROS_MASTER_URI");
Contact c = Contact::fromString(addr.c_str());
if (c.isValid()) {
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