在 openEuler 24.03 上安装 ROS1 Noetic 的踩坑记录
标签
ROS1-noetic
openEuler
字数
3208 字
阅读时间
18 分钟
踩坑的心路历程
首先，确保你使用的是这个源，对应的EulerMaker链接
然后你按照这篇文章安装完Noetic后，会发现有一些问题，执行Python的server代码后，过几秒钟终端会疯狂报错，而且莫名其妙。
错误输出
text
[cody@localhost catkin_ws]$ rosrun beginner_tutorials add_two_ints_server.py
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/impl/rosout.py", line 99, in _rosout
l.header.stamp = Time.now()
^^^^^^^^^^
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/rostime.py", line 155, in now
return get_rostime()
^^^^^^^^^^^^^
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/rostime.py", line 190, in get_rostime
raise rospy.exceptions.ROSInitException("time is not initialized. Have you called init_node()?")
rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?
During handling of the above exception, another exception occurred:
# 后面会一直重复报错这个，大概过几秒钟就会停止，最后提示下面这个
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/impl/rosout.py", line 99, in _rosout
File "/usr/lib64/python3.11/traceback.py", line 187, in format_exc
l.header.stamp = Time.now()
return "".join(format_exception(*sys.exc_info(), limit=limit, chain=chain))
^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/rostime.py", line 155, in now
return get_rostime()
File "/usr/lib64/python3.11/traceback.py", line 139, in format_exception
^^^^^^^^^^^^^
te = TracebackException(type(value), value, tb, limit=limit, compact=True)
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/rostime.py", line 190, in get_rostime
raise rospy.exceptions.ROSInitException("time is not initialized. Have you called init_node()?")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib64/python3.11/traceback.py", line 697, in __init__
rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3.11/site-packages/rospy/impl/rosout.py", line 99, in _rosout
_seen.add(id(exc_value))
^^^^^^^^^^^^^
RecursionError: maximum recursion depth exceeded while calling a Python object很莫名其妙的问题，网上也找不到类似的问题。那么让我们来分析一下问题在哪里
首先，ROS 1 Noetic 是为 Python 3.7-3.9 设计的，而 Python 3.11 引入了一些对 logging 模块的更新或行为变化。
临时解决方法是，将日志级别从 loginfo 降为 logerror 可以绕过这个问题，但是最好的解决方法是修改ros_comm包的源码
然后我搜索了一圈，ros官方已经有相关的issue了 python3.11 and roslogging (rospy.init_node) #2296
在这里，维护者已经有相关的patch，但是还没合并到主线，就是这个 685a96e rosgraph: update code from Python 3.11
关联的PR是这个 [ROS-O] required patches on current systems #2297
然后我根据这个pr制作了patch文件
Patch内容
diff --git a/ros-noetic-rosgraph-1.16.0/src/rosgraph/roslogging.py b/ros-noetic-rosgraph-1.16.0/src/rosgraph/roslogging.py
index 9ecc121..b16ab3c 100644
--- a/src/rosgraph/roslogging.py
+++ b/src/rosgraph/roslogging.py
@@ -50,32 +50,58 @@ from rospkg.environment import ROS_LOG_DIR
class LoggingException(Exception): pass
class RospyLogger(logging.getLoggerClass()):
- def findCaller(self, *args, **kwargs):
+ # copied from python3.11/logging/__init__.py
+ # _srcfile is only used in conjunction with sys._getframe().
+ # Setting _srcfile to None will prevent findCaller() from being called. This
+ # way, you can avoid the overhead of fetching caller information.
+
+ # The following is based on warnings._is_internal_frame. It makes sure that
+ # frames of the import mechanism are skipped when logging at module level and
+ # using a stacklevel value greater than one.
+ @staticmethod
+ def _is_internal_frame(frame):
+ """Signal whether the frame is a CPython or logging module internal."""
+ filename = os.path.normcase(frame.f_code.co_filename)
+ return filename == logging._srcfile or (
+ "importlib" in filename and "_bootstrap" in filename
+ )
+
+
+ def findCaller(self, stack_info=False, stacklevel=1):
"""
Find the stack frame of the caller so that we can note the source
file name, line number, and function name with class name if possible.
"""
- file_name, lineno, func_name = super(RospyLogger, self).findCaller(*args, **kwargs)[:3]
- file_name = os.path.normcase(file_name)
-
- f = inspect.currentframe()
- if f is not None:
- f = f.f_back
- while hasattr(f, "f_code"):
- # Search for the right frame using the data already found by parent class.
- co = f.f_code
- filename = os.path.normcase(co.co_filename)
- if filename == file_name and f.f_lineno == lineno and co.co_name == func_name:
+
+
+ f = logging.currentframe()
+ #On some versions of IronPython, currentframe() returns None if
+ #IronPython isn't run with -X:Frames.
+ if f is None:
+ return "(unknown file)", 0, "(unknown function)", None
+ while stacklevel > 0:
+ next_f = f.f_back
+ if next_f is None:
+ ## We've got options here.
+ ## If we want to use the last (deepest) frame:
break
- if f.f_back:
- f = f.f_back
-
- # Jump up two more frames, as the logger methods have been double wrapped.
- if f is not None and f.f_back and f.f_code and f.f_code.co_name == '_base_logger':
- f = f.f_back
- if f.f_back:
- f = f.f_back
+ ## If we want to mimic the warnings module:
+ #return ("sys", 1, "(unknown function)", None)
+ ## If we want to be pedantic:
+ #raise ValueError("call stack is not deep enough")
+ f = next_f
+ if not RospyLogger._is_internal_frame(f):
+ stacklevel -= 1
co = f.f_code
+ sinfo = None
+ if stack_info:
+ with io.StringIO() as sio:
+ sio.write("Stack (most recent call last):\n")
+ traceback.print_stack(f, file=sio)
+ sinfo = sio.getvalue()
+ if sinfo[-1] == '\n':
+ sinfo = sinfo[:-1]
+
func_name = co.co_name
# Now extend the function name with class name, if available.
@@ -85,11 +111,7 @@ class RospyLogger(logging.getLoggerClass()):
except KeyError: # if the function is unbound, there is no self.
pass
- if sys.version_info > (3, 2):
- # Dummy last argument to match Python3 return type
- return co.co_filename, f.f_lineno, func_name, None
- else:
- return co.co_filename, f.f_lineno, func_name
+ return co.co_filename, f.f_lineno, func_name, sinfo
logging.setLoggerClass(RospyLogger)
@@ -295,4 +317,4 @@ class RosStreamHandler(logging.Handler):
def _write(self, fd, msg, color):
if self._colorize and color and hasattr(fd, 'isatty') and fd.isatty():
msg = color + msg + _color_reset
- fd.write(msg)
+ fd.write(msg)
\ No newline at end of file你以为事情结束了？哈哈，我fork了这个仓库，修改了spec文件，然后尝试编译了ros-noetic-rosgraph，重新安装这个包后，问题依旧。
不应该啊，理论上打了这个patch就好了才对，于是我又搜索了一番，发现了这个patch Properly fix rospy logging in Python 3.11
这个patch的修改更精简，并且根据历史记录，这个patch比上面这个提交更新。
于是我又生成了一个patch文件，编译后重新安装，问题还是没有解决
Patch内容
From: Jochen Sprickerhof <[email protected]>
Date: Sun, 13 Nov 2022 16:39:59 +0100
Subject: rosgraph: update code from Python 3.11
---
tools/rosgraph/src/rosgraph/roslogging.py | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/tools/rosgraph/src/rosgraph/roslogging.py b/tools/rosgraph/src/rosgraph/roslogging.py
index 9ecc121..2df2f22 100644
--- a/src/rosgraph/roslogging.py
+++ b/src/rosgraph/roslogging.py
@@ -62,13 +62,12 @@ class RospyLogger(logging.getLoggerClass()):
if f is not None:
f = f.f_back
while hasattr(f, "f_code"):
- # Search for the right frame using the data already found by parent class.
- co = f.f_code
- filename = os.path.normcase(co.co_filename)
- if filename == file_name and f.f_lineno == lineno and co.co_name == func_name:
+ if f.f_code.co_name == '_base_logger':
break
if f.f_back:
f = f.f_back
+ else:
+ break
# Jump up two more frames, as the logger methods have been double wrapped.
if f is not None and f.f_back and f.f_code and f.f_code.co_name == '_base_logger':问题到底出在哪里了呢？我把关注点放到了openEuler的原始仓库，注意到这个提交 Fix: adapter logging for python 3.11 于是我对比了这四个压缩包的修改内容，发现了一些端倪
这是修改的内容
diff --git a/ros-noetic-rosgraph-1.16.0/src/rosgraph/impl/graph.py b/ros-noetic-rosgraph-1.16.0/src/rosgraph/impl/graph.py
index 55553ac..6e77c9c 100644
--- a/ros-noetic-rosgraph-1.16.0/src/rosgraph/impl/graph.py
+++ b/ros-noetic-rosgraph-1.16.0/src/rosgraph/impl/graph.py
@@ -52,7 +52,7 @@ import socket
import rosgraph.masterapi
-logger = logging.getLogger('rosgraph.graph')
+logger = logging.getLogger('roslaunch')
_ROS_NAME = '/rosviz'
diff --git a/ros-noetic-rosgraph-1.16.0/src/rosgraph/network.py b/ros-noetic-rosgraph-1.16.0/src/rosgraph/network.py
index 8da3797..2e86f13 100644
--- a/ros-noetic-rosgraph-1.16.0/src/rosgraph/network.py
+++ b/ros-noetic-rosgraph-1.16.0/src/rosgraph/network.py
@@ -70,7 +70,7 @@ if platform.system() == 'FreeBSD':
else:
SIOCGIFCONF = 0xc0086924
-logger = logging.getLogger('rosgraph.network')
+logger = logging.getLogger('roslaunch')
def parse_http_host_and_port(url):
"""
diff --git a/ros-noetic-rosgraph-1.16.0/src/rosgraph/xmlrpc.py b/ros-noetic-rosgraph-1.16.0/src/rosgraph/xmlrpc.py
index 4d1de93..412c515 100644
--- a/ros-noetic-rosgraph-1.16.0/src/rosgraph/xmlrpc.py
+++ b/ros-noetic-rosgraph-1.16.0/src/rosgraph/xmlrpc.py
@@ -131,7 +131,7 @@ class ThreadingXMLRPCServer(socketserver.ThreadingMixIn, SimpleXMLRPCServer):
# connections in OSX 10.11
self.request_queue_size = min(socket.SOMAXCONN, 128)
if rosgraph.network.use_ipv6():
- logger = logging.getLogger('xmlrpc')
+ logger = logging.getLogger('roslaunch')
# The XMLRPC library does not support IPv6 out of the box
# We have to monipulate private members and duplicate
# code from the constructor.
@@ -153,7 +153,7 @@ class ThreadingXMLRPCServer(socketserver.ThreadingMixIn, SimpleXMLRPCServer):
override ThreadingMixin, which sends errors to stderr
"""
if logging and traceback:
- logger = logging.getLogger('xmlrpc')
+ logger = logging.getLogger('roslaunch')
if logger:
logger.error(traceback.format_exc())
@@ -260,7 +260,7 @@ class XmlRpcNode(object):
# separated out for easier testing
def _run_init(self):
- logger = logging.getLogger('xmlrpc')
+ logger = logging.getLogger('roslaunch')
try:
log_requests = 0
port = self.port or 0 #0 = any
@@ -330,5 +330,5 @@ class XmlRpcNode(object):
pass
elif e.errno != errno.EINTR:
self.is_shutdown = True
- logging.getLogger('xmlrpc').error("serve forever IOError: %s, %s"%(e.errno, e.strerror))
+ logging.getLogger('roslaunch').error("serve forever IOError: %s, %s"%(e.errno, e.strerror))
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/child.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/child.py
index aa84e67..4ba6eb0 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/child.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/child.py
@@ -77,7 +77,7 @@ class ROSLaunchChild(object):
"""
roslaunch.core.set_child_mode(True)
- self.logger = logging.getLogger("roslaunch.child")
+ self.logger = logging.getLogger("roslaunch")
self.run_id = run_id
self.name = name
self.server_uri = server_uri
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/config.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/config.py
index 13eb7f1..df0fd54 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/config.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/config.py
@@ -432,7 +432,7 @@ def load_config_default(roslaunch_files, port, roslaunch_strs=None, loader=None,
@rytpe: L{ROSLaunchConfig} initialized rosconfig instance
@raises: RLException
"""
- logger = logging.getLogger('roslaunch.config')
+ logger = logging.getLogger('roslaunch')
# This is the main roslaunch server process. Load up the
# files specified on the command line and launch the
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/core.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/core.py
index 423a760..fe69d1b 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/core.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/core.py
@@ -313,12 +313,12 @@ class Master(object):
code, status, val = self.get().getPid('/roslaunch')
if code != 1:
raise RLException("ERROR: master failed status check: %s"%msg)
- logging.getLogger('roslaunch.core').debug('master.is_running[%s]: True'%self.uri)
+ logging.getLogger('roslaunch').debug('master.is_running[%s]: True'%self.uri)
return True
finally:
socket.setdefaulttimeout(to_orig)
except:
- logging.getLogger('roslaunch.core').debug('master.is_running[%s]: False'%self.uri)
+ logging.getLogger('roslaunch').debug('master.is_running[%s]: False'%self.uri)
return False
## number of seconds that a child machine is allowed to register with
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/parent.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/parent.py
index 58e9294..bd294a4 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/parent.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/parent.py
@@ -122,7 +122,7 @@ class ROSLaunchParent(object):
if sigterm_timeout <= 0:
raise RLException("sigterm_timeout must be a positive number, received %f" % sigterm_timeout)
- self.logger = logging.getLogger('roslaunch.parent')
+ self.logger = logging.getLogger('roslaunch')
self.run_id = run_id
self.process_listeners = process_listeners
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/pmon.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/pmon.py
index b74f638..8ed869f 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/pmon.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/pmon.py
@@ -55,7 +55,7 @@ from threading import Thread, RLock, Lock
import roslib
from roslaunch.core import printlog, printlog_bold, printerrlog, RLException
-logger = logging.getLogger("roslaunch.pmon")
+logger = logging.getLogger("roslaunch")
class FatalProcessLaunch(RLException):
"""
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/remote.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/remote.py
index 8e02669..6b2ea6b 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/remote.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/remote.py
@@ -74,7 +74,7 @@ class ROSRemoteRunner(roslaunch.launch.ROSRemoteRunnerIF):
self.pm = pm
self.sigint_timeout = sigint_timeout
self.sigterm_timeout = sigterm_timeout
- self.logger = logging.getLogger('roslaunch.remote')
+ self.logger = logging.getLogger('roslaunch')
self.listeners = []
self.machine_list = []
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/remoteprocess.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/remoteprocess.py
index 6f44eff..9759942 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/remoteprocess.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/remoteprocess.py
@@ -51,7 +51,7 @@ import roslaunch.server
from roslaunch.nodeprocess import DEFAULT_TIMEOUT_SIGINT, DEFAULT_TIMEOUT_SIGTERM
import logging
-_logger = logging.getLogger("roslaunch.remoteprocess")
+_logger = logging.getLogger("roslaunch")
# #1975 timeout for creating ssh connections
TIMEOUT_SSH_CONNECT = 30.
diff --git a/ros-noetic-roslaunch-1.16.0/src/roslaunch/server.py b/ros-noetic-roslaunch-1.16.0/src/roslaunch/server.py
index 24808ca..8dee93c 100644
--- a/ros-noetic-roslaunch-1.16.0/src/roslaunch/server.py
+++ b/ros-noetic-roslaunch-1.16.0/src/roslaunch/server.py
@@ -97,7 +97,7 @@ class ROSLaunchBaseHandler(xmlrpc.XmlRpcHandler):
"""
def __init__(self, pm):
self.pm = pm
- self.logger = logging.getLogger('roslaunch.server')
+ self.logger = logging.getLogger('roslaunch')
if self.pm is None:
raise RLException("cannot create xmlrpc handler: pm is not initialized")
@@ -365,7 +365,7 @@ class ROSLaunchNode(xmlrpc.XmlRpcNode):
Startup roslaunch server XML-RPC services
@raise RLException: if server fails to start
"""
- logger = logging.getLogger('roslaunch.server')
+ logger = logging.getLogger('roslaunch')
logger.info("starting roslaunch XML-RPC server")
super(ROSLaunchNode, self).start()
@@ -424,7 +424,7 @@ For more tips, please see
try:
super(ROSLaunchNode, self).run()
except:
- logging.getLogger("roslaunch.remote").error(traceback.format_exc())
+ logging.getLogger("roslaunch").error(traceback.format_exc())
print("ERROR: failed to launch XML-RPC server for roslaunch", file=sys.stderr)
class ROSLaunchParentNode(ROSLaunchNode):
@@ -477,7 +477,7 @@ class _ProcessListenerForwarder(ProcessListener):
try:
self.server.process_died(process_name, exit_code)
except Exception as e:
- logging.getLogger("roslaunch.remote").error(traceback.format_exc())
+ logging.getLogger("roslaunch").error(traceback.format_exc())
class ROSLaunchChildNode(ROSLaunchNode):
"""
@@ -499,7 +499,7 @@ class ROSLaunchChildNode(ROSLaunchNode):
## @return: XML-RPC URI
## @rtype: str
"""
- self.logger = logging.getLogger("roslaunch.server")
+ self.logger = logging.getLogger("roslaunch")
self.run_id = run_id
self.name = name
self.server_uri = server_uri
diff --git a/ros-noetic-rosmaster-1.16.0/src/rosmaster/main.py b/ros-noetic-rosmaster-1.16.0/src/rosmaster/main.py
index ae94dd1..6e77d1f 100644
--- a/ros-noetic-rosmaster-1.16.0/src/rosmaster/main.py
+++ b/ros-noetic-rosmaster-1.16.0/src/rosmaster/main.py
@@ -104,7 +104,7 @@ WARNING ACHTUNG WARNING ACHTUNG WARNING
""")
- logger = logging.getLogger("rosmaster.main")
+ logger = logging.getLogger("roslaunch")
logger.info("initialization complete, waiting for shutdown")
if options.timeout is not None and float(options.timeout) >= 0.0:
@@ -117,7 +117,7 @@ WARNING ACHTUNG WARNING ACHTUNG WARNING
if options.master_logger_level.lower() in levels.keys():
logger.info("set rosmaster.master logger level '{}'".format(options.master_logger_level))
rosmaster.master_api.LOG_API = True
- logging.getLogger("rosmaster.master").setLevel(levels[options.master_logger_level.lower()])
+ logging.getLogger("roslaunch").setLevel(levels[options.master_logger_level.lower()])
else:
logger.error("--master-logger-level received unknown option '{}'".format(options.master_logger_level))
diff --git a/ros-noetic-rosmaster-1.16.0/src/rosmaster/master.py b/ros-noetic-rosmaster-1.16.0/src/rosmaster/master.py
index fc8652a..2c068f6 100644
--- a/ros-noetic-rosmaster-1.16.0/src/rosmaster/master.py
+++ b/ros-noetic-rosmaster-1.16.0/src/rosmaster/master.py
@@ -75,7 +75,7 @@ class Master(object):
self.master_node = master_node
self.uri = master_node.uri
- logging.getLogger('rosmaster.master').info("Master initialized: port[%s], uri[%s]", self.port, self.uri)
+ logging.getLogger('roslaunch').info("Master initialized: port[%s], uri[%s]", self.port, self.uri)
def ok(self):
if self.master_node is not None:
diff --git a/ros-noetic-rosmaster-1.16.0/src/rosmaster/master_api.py b/ros-noetic-rosmaster-1.16.0/src/rosmaster/master_api.py
index 73c66bb..c720242 100644
--- a/ros-noetic-rosmaster-1.16.0/src/rosmaster/master_api.py
+++ b/ros-noetic-rosmaster-1.16.0/src/rosmaster/master_api.py
@@ -80,7 +80,7 @@ STATUS = 0
MSG = 1
VAL = 2
-_logger = logging.getLogger("rosmaster.master")
+_logger = logging.getLogger("roslaunch")
LOG_API = False
diff --git a/ros-noetic-rosmaster-1.16.0/src/rosmaster/threadpool.py b/ros-noetic-rosmaster-1.16.0/src/rosmaster/threadpool.py
index 6d195dc..ad7318c 100644
--- a/ros-noetic-rosmaster-1.16.0/src/rosmaster/threadpool.py
+++ b/ros-noetic-rosmaster-1.16.0/src/rosmaster/threadpool.py
@@ -221,7 +221,7 @@ class ThreadPoolThread(threading.Thread):
if callback is not None:
callback(result)
except Exception as e:
- logging.getLogger('rosmaster.threadpool').error(traceback.format_exc())
+ logging.getLogger('roslaunch').error(traceback.format_exc())
def go_away(self):
""" Exit the run loop next time through."""
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/client.py b/ros-noetic-rospy-1.16.0/src/rospy/client.py
index 668801d..f3589b7 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/client.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/client.py
@@ -167,7 +167,7 @@ def _set_logger_level(request):
logger = logging.getLogger(request.logger)
logger.setLevel(_names_to_logging_levels[level])
else:
- logging.getLogger('rospy').error("Bad logging level: %s"%level)
+ logging.getLogger('roslaunch').error("Bad logging level: %s"%level)
ret = SetLoggerLevelResponse()
return ret
@@ -310,7 +310,7 @@ def init_node(name, argv=None, anonymous=False, log_level=None, disable_rostime=
# #1810
rospy.names.initialize_mappings(resolved_node_name)
- logger = logging.getLogger("rospy.client")
+ logger = logging.getLogger("roslaunch")
logger.info("init_node, name[%s], pid[%s]", resolved_node_name, os.getpid())
# node initialization blocks until registration with master
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/core.py b/ros-noetic-rospy-1.16.0/src/rospy/core.py
index 1ce53b6..714d08e 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/core.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/core.py
@@ -75,7 +75,7 @@ from rospy.impl.validators import ParameterInvalid
from rosgraph_msgs.msg import Log
from functools import partial
-_logger = logging.getLogger("rospy.core")
+_logger = logging.getLogger("roslaunch")
# number of seconds to wait to join on threads. network issue can
# cause joins to be not terminate gracefully, and it's better to
@@ -126,7 +126,7 @@ def parse_rosrpc_uri(uri):
#########################################################
# rospy logger
-_rospy_logger = logging.getLogger("rospy.internal")
+_rospy_logger = logging.getLogger("roslaunch")
# we keep a separate, non-rosout log file to contain stack traces and
# other sorts of information that scare users but are essential for
@@ -158,7 +158,7 @@ def _frame_to_caller_id(frame):
def _base_logger(msg, args, kwargs, throttle=None,
throttle_identical=False, level=None, once=False):
- rospy_logger = logging.getLogger('rosout')
+ rospy_logger = logging.getLogger('roslaunch')
name = kwargs.pop('logger_name', None)
if name:
rospy_logger = rospy_logger.getChild(name)
@@ -409,7 +409,7 @@ class NullHandler(logging.Handler):
pass
# keep logging happy until we have the node name to configure with
-logging.getLogger('rospy').addHandler(NullHandler())
+logging.getLogger('roslaunch').addHandler(NullHandler())
#########################################################
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/init.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/init.py
index 8e6f51d..c8b311c 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/init.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/init.py
@@ -99,11 +99,11 @@ def start_node(environ, resolved_name, master_uri=None, port=0, tcpros_port=0):
node.start()
while not node.uri and not is_shutdown():
time.sleep(0.00001) #poll for XMLRPC init
- logging.getLogger("rospy.init").info("ROS Slave URI: [%s]", node.uri)
+ logging.getLogger("roslaunch").info("ROS Slave URI: [%s]", node.uri)
while not handler._is_registered() and not is_shutdown():
time.sleep(0.1) #poll for master registration
- logging.getLogger("rospy.init").info("registered with master")
+ logging.getLogger("roslaunch").info("registered with master")
return node
class RosStreamHandler(rosgraph.roslogging.RosStreamHandler):
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/masterslave.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/masterslave.py
index 078daae..12a9ba0 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/masterslave.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/masterslave.py
@@ -90,7 +90,7 @@ VAL = 2
def is_publishers_list(paramName):
return ('is_publishers_list', paramName)
-_logger = logging.getLogger("rospy.impl.masterslave")
+_logger = logging.getLogger("roslaunch")
LOG_API = True
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/registration.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/registration.py
index 6837de6..59552e8 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/registration.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/registration.py
@@ -190,7 +190,7 @@ class RegManager(RegistrationListener):
ctor.
@param handler: node API handler
"""
- self.logger = logging.getLogger("rospy.registration")
+ self.logger = logging.getLogger("roslaunch")
self.handler = handler
self.uri = self.master_uri = None
self.updates = []
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/rosout.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/rosout.py
index c54a97e..cc47e65 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/rosout.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/rosout.py
@@ -62,7 +62,7 @@ _rospy_to_logging_levels = {
}
def init_rosout():
- logger = logging.getLogger("rospy.rosout")
+ logger = logging.getLogger("roslaunch")
try:
global _rosout_pub
if _rosout_pub is None:
@@ -103,7 +103,7 @@ def _rosout(level, msg, fname, line, func):
except Exception as e:
#traceback.print_exc()
# don't use logerr in this case as that is recursive here
- logger = logging.getLogger("rospy.rosout")
+ logger = logging.getLogger("roslaunch")
logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc())
return False
@@ -123,7 +123,7 @@ class RosOutHandler(logging.Handler):
## Load loggers for publishing to /rosout
## @param level int: Log level. Loggers >= level will be loaded.
def load_rosout_handlers(level):
- logger = logging.getLogger('rosout')
+ logger = logging.getLogger('roslaunch')
logger.addHandler(RosOutHandler())
if level != None:
logger.setLevel(_rospy_to_logging_levels[level])
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/simtime.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/simtime.py
index f253416..bb0317c 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/simtime.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/simtime.py
@@ -74,7 +74,7 @@ def init_simtime():
IFF the /use_sim_time parameter is set.
"""
import logging
- logger = logging.getLogger("rospy.simtime")
+ logger = logging.getLogger("roslaunch")
try:
if not _is_use_simtime():
logger.info("%s is not set, will not subscribe to simulated time [%s] topic"%(_USE_SIMTIME, _ROSCLOCK))
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/statistics.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/statistics.py
index 6db8b00..99ef2d9 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/statistics.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/statistics.py
@@ -39,7 +39,7 @@ import sys
from rosgraph_msgs.msg import TopicStatistics
import rospy
-_logger = logging.getLogger('rospy.impl.statistics')
+_logger = logging.getLogger('roslaunch')
class SubscriberStatisticsLogger():
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_base.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_base.py
index 568564c..56efdfe 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_base.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_base.py
@@ -65,7 +65,7 @@ from rospy.service import ServiceException
from rospy.impl.transport import Transport, BIDIRECTIONAL
from errno import EAGAIN, EWOULDBLOCK
-logger = logging.getLogger('rospy.tcpros')
+logger = logging.getLogger('roslaunch')
# Receive buffer size for topics/services (in bytes)
DEFAULT_BUFF_SIZE = 65536
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_service.py b/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_service.py
index 70c4f3d..5f12512 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_service.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/impl/tcpros_service.py
@@ -71,7 +71,7 @@ else:
def isstring(s):
return isinstance(s, basestring) #Python 2.x
-logger = logging.getLogger('rospy.service')
+logger = logging.getLogger('roslaunch')
#########################################################
# Service helpers
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/msg.py b/ros-noetic-rospy-1.16.0/src/rospy/msg.py
index 2720456..1e02adb 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/msg.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/msg.py
@@ -241,6 +241,6 @@ def deserialize_messages(b, msg_queue, data_class, queue_size=None, max_msgs=Non
else:
b.seek(btell)
except Exception as e:
- logging.getLogger('rospy.msg').error("cannot deserialize message: EXCEPTION %s", traceback.format_exc())
+ logging.getLogger('roslaunch').error("cannot deserialize message: EXCEPTION %s", traceback.format_exc())
raise genpy.DeserializationError("cannot deserialize: %s"%str(e))
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/service.py b/ros-noetic-rospy-1.16.0/src/rospy/service.py
index f9e7344..bb964d3 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/service.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/service.py
@@ -45,7 +45,7 @@ from rospy.core import *
from rospy.impl.registration import set_service_manager, Registration, get_registration_listeners
from rospy.impl.transport import *
-logger = logging.getLogger('rospy.service')
+logger = logging.getLogger('roslaunch')
class ServiceException(Exception):
"""Exception class for service-related errors"""
diff --git a/ros-noetic-rospy-1.16.0/src/rospy/topics.py b/ros-noetic-rospy-1.16.0/src/rospy/topics.py
index ec45713..9868e1f 100644
--- a/ros-noetic-rospy-1.16.0/src/rospy/topics.py
+++ b/ros-noetic-rospy-1.16.0/src/rospy/topics.py
@@ -96,7 +96,7 @@ from rospy.impl.registration import get_topic_manager, set_topic_manager, Regist
from rospy.impl.tcpros import get_tcpros_handler, DEFAULT_BUFF_SIZE
from rospy.impl.tcpros_pubsub import QueuedConnection
-_logger = logging.getLogger('rospy.topics')
+_logger = logging.getLogger('roslaunch')
# wrap genpy implementation and map it to rospy namespace
import genpy你会发现，这个修改实际上就是把所有的logger = logging.getLogger('XXXXXX')修改成了logger = logging.getLogger('roslaunch')。这确实是能运行了，但是会有其他新的问题，就不展开讲了。总之这就是导致递归调用的原因，把这个问题回退后，就是网上的原始故障了
接下来的事情就很顺利，只要回退这几个压缩包，打上patch就能正常用了。
使用正常的ros_comm包
首先，假设你已经安装好了Noetic，那么先编辑 /etc/yum.repos.d/ROS.repo
bash
sudo nano /etc/yum.repos.d/ROS.repo修改为如下内容
[openEulerROS-Noetic]
name=openEulerROS-Noetic
baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/x86_64/
enabled=0 # 禁用原本的源
gpgcheck=0
# 添加新的源
[openEulerROS-fixpy311]
name=openEulerROS-fixpy311
baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ros-noetic_openEuler-24.03-LTS:py3.11loggerfix/openEuler%3A24.03-LTS/x86_64/
enabled=1
gpgcheck=0修改好文件后，执行一下sudo dnf update，但是不需要更新系统软件包，直接回车退出就行，只是拉取一下包信息。
然后执行下面的命令替换软件包
bash
sudo dnf update
sudo dnf reinstall ros-noetic-rosgraph ros-noetic-rosmaster ros-noetic-roslaunch ros-noetic-rospy注意看被替换的软件包的源(Repository)是不是openEulerROS-fixpy311
记得把/etc/yum.repos.d/ROS.repo改回去哦
[openEulerROS-Noetic]
name=openEulerROS-Noetic
baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/x86_64/
enabled=1
gpgcheck=0然后重新运行之前的代码，就会发现都正常了🎉
Cody Gu