plugin_resources.py 文件源码

def get_pid(name):
        try:
            pid = [p.pid for p in psutil.process_iter() if name in str(p.name)]
            return pid[0]
        except IndexError:
            pass

        try:
            node_id = '/NODEINFO'
            node_api = rosnode.get_api_uri(rospy.get_master(), name)
            code, msg, pid = xmlrpclib.ServerProxy(node_api[2]).getPid(node_id)
        except IOError:
            pass
        else:
            return pid

        try:
            return int(check_output(["pidof", "-s", name]))
        except CalledProcessError:
            pass

        rospy.logerr("Node '" + name + "' is not running!")
        return None