检测 roscore 是否启动

Python 检测 roscore 是否启动很简单，监听 ROS_MASTER_URI 端口即可，有内容就说明已启动

check_roscore.py

#!/usr/bin/env python
# encoding: utf-8
import os
import xmlrpclib
 
 
caller_id = '/rosout'
m = xmlrpclib.ServerProxy(os.environ.get('ROS_MASTER_URI', 'http://localhost:11311'))
try:
    m.getSystemState(caller_id)
except :
    print("roscore not run")