[Ninja][Remote Launch] Create a script to launch bringup.launch using…

… Roslaunch API.

robots/ninja/script/bringup.py

@@ -1,21 +1,56 @@
 #!/usr/bin/env python
-import subprocess
-import time
+#!/usr/bin/env python3
+
+import rospy
+import roslaunch
+import os
+import signal
 import sys
+import logging
 
 sys.stdout.reconfigure(line_buffering=True)
+sys.stderr.reconfigure(line_buffering=True)
+class RemoteBringup:
+    def __init__(self, bringup_launch_path):
+        self.bringup_launch_path = bringup_launch_path
+        self.launch = None
+
+    def start_bringup(self):
+        print("Starting bringup.launch...", flush=True)
+        uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+        roslaunch.configure_logging(uuid)
+        logging.basicConfig(level=logging.INFO, format='%(asctime)s %(message)s', handlers=[logging.StreamHandler(sys.stdout)])
+        self.launch = roslaunch.parent.ROSLaunchParent(uuid, [self.bringup_launch_path])
+        rospy.loginfo("Starting bringup.launch...")
+        self.launch.start()
+
+    def shutdown(self):
+        if self.launch:
+            rospy.loginfo("Shutting down bringup.launch...")
+            self.launch.shutdown()
+
+def main():
+    rospy.init_node("bringup_node", anonymous=True)
+    # path to bringup launch
+    bringup_launch_path = "/home/leus/ros/jsk_aerial_robot_ws/src/jsk_aerial_robot/robots/ninja/launch/bringup.launch"
+
+    bringup_handler = RemoteBringup(bringup_launch_path)
+
+    # terminate process
+    def signal_handler(sig, frame):
+        bringup_handler.shutdown()
+        rospy.loginfo("Exiting bringup_node.")
+        sys.exit(0)
 
-def launch_node():
-    process = subprocess.Popen(['roslaunch', 'ninja', 'bringup.launch', 'robot_id:=1'])
-    print("ok")
-    return process
+    signal.signal(signal.SIGINT, signal_handler)
 
-if __name__ == '__main__':
     try:
-        process = launch_node()
-        while True:
-            time.sleep(0.1)
+        bringup_handler.start_bringup()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
+    finally:
+        bringup_handler.shutdown()
 
-    except KeyboardInterrupt:
-        process.terminate()
-        process.wait()
+if __name__ == "__main__":
+    main()