当PHP进程生成时，找不到ROS catkin_init_workspace [英] ROS catkin_init_workspace not found when spawned as process by PHP

问题描述

让我详细说明一下：我试图从PHP中生成 catkin_init_workspace ，使用 proc_open ：

  touch（$ dir / stderr.txt）; 
 chmod（$ dir / stderr.txt，0755）; 
 $ fp = fopen（$ dir / stderr.txt，w）; 
 fclose（$ fp）; 
 
 $ descr = array（
 0 =>数组（pipe，'r'），// stdin 
 1 =>数组（pipe w'），// stdout 
 2 =>数组（file，$ dir / stderr.txt，w）到文件
）; 
 
 $ pid = proc_open（catkin_init_workspace，$ descr，$ pipes，$ dir）; 
 
 if（！is_resource（$ pid））
 throw new异常（`catkin_init_workspace` exec failed）; 
 
 else if（is_resource（$ pid））
 {
 fclose（$ pipes [1]）; 
 $ retval = proc_close（$ pid）; 
} 
  

上述代码与CMake，GCC和其他应用程序一起使用。
但是，当我尝试使用catkin_init_workspace时，我得到：

  sh：1：catkin_init_workspace：not found 
  

现在，据我所知，catkin_init_workspace是一个python脚本：

  / opt / ros / indigo / bin / catkin_init_workspace 
  

我尝试通过使用绝对路径直接调用它，但是没有起作用。

作为一个用户，一切都正常。但是当我通过www数据执行时，不是Apache2的用户/组设置。

ROS教程解释说，我需要设置我的环境变量，通过运行

  source /opt/ros/indigo/setup.bash 
  

在调用proc_open之前，我也尝试过通过PHP进行操作，但是没有效果。
我的理解是我需要正确设置环境变量。

执行

export | grep ROS

显示：

  declare -x ROSLISP_PACKAGE_DIRECTORIES =/ home / alex / Projects / ros_ws / devel / share / common-lisp
 declare -x ROS_DISTRO =indigo
 declare -x ROS_ETC_DIR =/ opt / ros / indigo / etc / ros
 declare -x ROS_MASTER_URI =http：// localhost：11311
 declare -x ROS_PACKAGE_PATH =/ home / alex / Projects / ros_ws / src：/ opt / ros / indigo / share：/ opt / ros / indigo / stacks
 declare -x ROS_ROOT =/ opt / ros / indigo / share / ros
 declare -x ROS_TEST_RESULTS_DIR =/ home /项目/ ros_ws / build / test_results
  

这些环境变量是否需要为www数据设置要正确地调用catkin？

如果是这样，我如何传递一个env数组到PHP的proc_open，这些变量？

解决方案

如你所知， source /opt/ros/indigo/setup.bash 必须提前调用，否则您的环境未设置为找到ROS命令。

当您在PHP中执行此操作时，我猜你使用了一些额外的 proc_open 或 exec 调用或类似的事情之前调用 proc_open（catkin_init_workspace，...）？

由这样做，环境可能只是为这个单一的调用设置，并且不保存，直到您在另一个 proc_open catkin_init_workspace c> -call。

可能的解决方案

我现在无法测试这个（没有安装PHP）但是以下内容应该有效：

1. 创建一个简单的bash脚本，其中包含以下内容：
   

    ＃！/ bin / bash 
    source /opt/ros/indigo/setup.bash 
    catkin_init_workspace 
     



2. 在PHP中，调用此脚本而不是 catkin_init_workspace

Let me elaborate: I am trying to spawn the catkin_init_workspace from PHP, using the proc_open like so:

touch( "$dir/stderr.txt" );
chmod( "$dir/stderr.txt", 0755 );
$fp = fopen("$dir/stderr.txt", "w");
fclose($fp);

$descr = array(
                0 => array("pipe", 'r'), // stdin
                1 => array("pipe", 'w'), // stdout
                2 => array("file", "$dir/stderr.txt", "w")to file
              );

$pid = proc_open( "catkin_init_workspace", $descr, $pipes, $dir );

if (!is_resource( $pid) ) 
    throw new Exception ( "`catkin_init_workspace` exec failed");

else if ( is_resource( $pid ) )
{   
    fclose( $pipes[1] );
    $retval = proc_close( $pid );
}

The above code has worked with CMake, with GCC and other applications. However, when I try this with catkin_init_workspace, I get:

sh: 1: catkin_init_workspace: not found

Now, as far as I understand, catkin_init_workspace is a python script at:

/opt/ros/indigo/bin/catkin_init_workspace

I tried invoking it directly by using the absolute path, but that didn't work.

As a user, everything works fine. But not when I am executing via www-data, the user/group setup for Apache2.

ROS tutorial explain that I need to setup my environment variables, by running

source /opt/ros/indigo/setup.bash

Which I also tried doing via PHP, right before I invoke the proc_open, but to no avail. My understanding is that I need to setup the environment variables correctly.

Doing

export | grep ROS

shows:

declare -x ROSLISP_PACKAGE_DIRECTORIES="/home/alex/Projects/ros_ws/devel/share/common-lisp"
declare -x ROS_DISTRO="indigo"
declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/alex/Projects/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks"
declare -x ROS_ROOT="/opt/ros/indigo/share/ros"
declare -x ROS_TEST_RESULTS_DIR="/home/alex/Projects/ros_ws/build/test_results"

Are those the environment variables I need to setup for www-data to correctly invoke catkin?

If so, how do I pass as an env array to PHP's proc_open, those variables?

解决方案

As you already figured out, source /opt/ros/indigo/setup.bash has to be called in advance, otherwise your environment is not set up to find the ROS commands.

When you did this in PHP, I guess you used something like an additional proc_open or exec call or something similar before you call proc_open("catkin_init_workspace", ...)?
By doing this, the environment is probably only set up for this single call and it is not kept until you run catkin_init_workspace in another proc_open-call.

Possible Solution

I cannot test this here right now (no PHP installed), but the following should work:

1. Create a simple bash script with the following content:

   #!/bin/bash
   source /opt/ros/indigo/setup.bash
   catkin_init_workspace
   

2. In PHP, call this script instead of catkin_init_workspace

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