This is just a wrapper for command line but monitors rosmaster and respawn automatically

auto_restart

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Author: furushchev <[email protected]>


import os
import rosgraph
import rospy
import signal
import subprocess
import sys
import time
from threading import Event, Lock, Thread


IS_POSIX = 'posix' in sys.builtin_module_names
TIMEOUT_SIGINT = 10.0
TIMEOUT_SIGTERM = 2.0


def logout(fmt, **args):
    print "\x1b[32m" + fmt % args + '\x1b[39m'


class ROSMasterWatchdog(Thread):
    def __init__(self, rate):
        super(ROSMasterWatchdog, self).__init__()
        self.rate = rate
        self.event = Event()
        self.lock = Lock()
        self.alive = True

    def stop(self):
        self.event.set()

    def get(self):
        with self.lock:
            return self.alive

    def run(self):
        while not self.event.wait(self.rate):
            with self.lock:
                self.alive = rosgraph.is_master_online()


proc = None
args = rospy.myargv()[1:]


def signal_handler(signum, stack):
    global proc
    if proc and proc.poll() is None:
        proc.send_signal(signum)
        logout("Sent signal %d to application" % signum)

signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
signal.signal(signal.SIGHUP, signal_handler)

watchdog = ROSMasterWatchdog(1.0)
watchdog.start()


def kill_process(p):
    if p is None:
        return 0
    if p.poll() is not None:
        return p.poll()
    try:
        p.send_signal(signal.SIGINT)
        timeout = time.time() + TIMEOUT_SIGINT
        while time.time() < timeout:
            if p.poll() is not None:
                return p.poll()
            time.sleep(0.1)
        logout("escalated to SIGTERM")
        p.send_signal(signal.SIGTERM)
        timeout = time.time() + TIMEOUT_SIGTERM
        while time.time() < timeout:
            if p.poll() is not None:
                return p.poll()
            time.sleep(0.1)
        logout("escalated to SIGKILL")
        p.kill()
        p.wait()
    except Exception as e:
        logout("Failed to kill process: %s" % str(e))
    return p.poll()

while True:
    time.sleep(1)
    master = watchdog.get()
    if proc and (not master):
        logout("Master is no more alive. Killing the application")
        kill_process(proc)
        proc = None
    elif proc is None and master:
        logout("Master is alive. Starting the application.")
        proc = subprocess.Popen(
            args, close_fds=IS_POSIX,
            env=os.environ.copy(),
            preexec_fn=os.setpgrp(),
        )
    if proc and proc.poll() is not None:
        logout("Child process exited with %d" % proc.poll())
        break

if watchdog:
    watchdog.stop()
    watchdog.join()

sys.exit(kill_process(proc))