Feature/multi robot

README.md

@@ -115,6 +115,8 @@ sessions:
 - `-c` or `--config`: Specify the path to the YAML configuration file that defines the hosts, sessions, and other settings. The default configuration file path is "/etc/ros/upstart_robot.yaml."
 - `-s` or `--sessions`: Optionally, specify which sessions should be started or stopped. You can provide multiple session names as arguments.
 - `-f` or `--force`: Use this flag to force the closure of sessions, even if they are locked.
+- `-l <L>` or `--logging_level <L>`: Use this flag to set the logging level, ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"]
+- `--instance_id <N>`: An unique id used to prepend to each session name and used within multi-robot setups.
 
 ### YAML Configuration
 

robmuxinator/robmuxinator.py

@@ -795,12 +795,19 @@ def main():
         default="INFO",
         help="logging level",
     )
+    parser.add_argument(
+        "--instance_id",
+        type=int,
+        help="an unique id used to prepend to each session name within the config file. used for multi-robot emulation. the instance_id is also exported to the env used within the sessions as well as to guarantee a unique ROS_DOMAIN_ID",
+        default=0,
+    )
 
     argcomplete.autocomplete(parser)
     args = parser.parse_args()
     # parse arguments
     yaml_file = args.config
     command = args.command
+    instance_id = args.instance_id
 
     # set logging level
     logger.setLevel(level=args.logging_level)
@@ -880,6 +887,13 @@ def main():
     else:
         envs = None
 
+    # Check if 'instance_id' was given by the user.
+    # This indicates the a multi-instance setup, e.g. for multi-robot emulation.
+    # Therefore we export the INSTANCE_ID and use it for to guarantee a unique ROS_DOMAIN_ID
+    if instance_id != 0:
+        envs.append(("INSTANCE_ID", instance_id))
+        envs.append(("ROS_DOMAIN_ID", instance_id))
+
     # get sessions from yaml
     yaml_sessions = None
     if "sessions" in yaml_content:
@@ -911,7 +925,7 @@ def main():
                     sessions.append(
                         Session(
                             SSHClient(user=user, hostname=hosts[host].get_hostname(), port=hosts[host].get_ssh_port()),
-                            key,
+                            str(instance_id) + "_" + key if instance_id != 0 else key,
                             yaml_sessions[key],
                             envs
                         )
@@ -920,7 +934,7 @@ def main():
                 sessions.append(
                     Session(
                         SSHClient(user=user, hostname=hosts[host].get_hostname(), port=hosts[host].get_ssh_port()),
-                        key,
+                        str(instance_id) + "_" + key if instance_id != 0 else key,
                         yaml_sessions[key],
                         envs
                     )