Source code for ros_launch

#!/bin/python3

import rospy
import rospkg
import os
import subprocess
import time

def ros_launch_from_pkg(pkg_name, launch_file, args=None, launch_new_term=True) -> bool:
    """
    Function to execute a roslaunch from package with args.
    :param pkg_name: Name of the package where the launch file is located.
    :type pkg_name: str
    
    :param launch_file: Name of the launch file.
    :type launch_file: str
    
    :param args: Args to pass to the launch file.
    :type args: list of str

    :param launch_new_term: Launch the process in a new terminal (Xterm).
    :type launch_new_term: bool

    :return: True if the launch file was executed.
    :rtype: bool
    """

    rospack = rospkg.RosPack()
    try:
        pkg_path = rospack.get_path(pkg_name)
        rospy.logdebug("Package FOUND...")
    except rospkg.common.ResourceNotFound:
        rospy.logerr("Package NOT FOUND")
        return False

    file_path = pkg_path + "/launch/" + launch_file
    if os.path.exists(pkg_path + "/launch/" + launch_file) is False:
        print("Launch file " + launch_file + " in " + file_path + " does not exists")
        return False

    term_command = "roslaunch " + pkg_name + " " + launch_file

    if args is not None:
        for arg in args:
            term_command += " " + arg

    if launch_new_term:
        term_command = "xterm -e ' " + term_command + "'"
    
    subprocess.Popen(term_command, shell=True)
    time.sleep(5.0)

    return True

def ros_launch_from_path(launch_file_path, args=None, launch_new_term=True) -> bool:
    """
    Function to execute a roslaunch from a path with args.
    :param launch_file_path: Path of the launch file.
    :type launch_file_path: str

    :param args: Args to pass to the launch file.
    :type args: list str

    :param launch_new_term: Launch the process in a new terminal (Xterm).
    :type launch_new_term: bool

    :return: True if the launch file was executed.
    :rtype: bool
    """

    if os.path.exists(launch_file_path) is False:
        print("Launch file " + launch_file_path + " does not exists")
        return False

    term_command = "roslaunch " + launch_file_path

    if args is not None:
        for arg in args:
            term_command += " " + arg

    if launch_new_term:
        term_command = "xterm -e ' " + term_command + "'"
    
    subprocess.Popen(term_command, shell=True)
    time.sleep(5.0)

    return True

def ros_kill_launch_process() -> bool:
    """
    Function to kill all roslaunch processes.

    :return: True if the roslaunch processes were killed.
    :rtype: bool
    """
    term_command = "killall -9 roslaunch"
    subprocess.Popen("xterm -e ' " + term_command + "'", shell=True).wait()
    return True