使用POCO启动后台进程(launch background process with POCO)

 我正在使用ROS并尝试将Poco Process集成到ROS QT接口中的流程管理中。 
 
 这是我的节点到目前为止的样子： 
 
void My_Interface::gazebo_launch_world()
{
    std::string command = "roslaunch";
    std::vector<std::string> args;
    args.push_back("robot_gazebo");
    args.push_back("robot_gazebo.launch");
    PocoProcess pp(command, args);
    pp.run();
}

int PocoProcess::run()
{
    int rc;
    try
    {
        Poco::Pipe outPipe;
        Poco::ProcessHandle ph = Poco::Process::launch(command_, args_, 0, &outPipe, 0);
        rc = ph.id();
        Poco::PipeInputStream istr(outPipe);
        Poco::StreamCopier::copyStream(istr, std::cout);
    }
    catch (Poco::SystemException& exc)
    {
        std::cout << exc.displayText() << std::endl;
        return (-1);
    }
    return rc;
}
 
 这工作正常（启动过程），但问题是我的界面在等待进程完成时冻结，这是非常不受欢迎的。 
 
 那么，无论如何我可以在后台启动POCO流程吗？ 
 
 PS :(绝望地）我甚至尝试了args矢量上的“＆”，但它没有用！ 
 
 谢谢， 

I am working with ROS and trying to integrate Poco Process for processes management in a ROS QT Interface.
 
Here's an example of what my node looks like so far : 
 
void My_Interface::gazebo_launch_world()
{
    std::string command = "roslaunch";
    std::vector<std::string> args;
    args.push_back("robot_gazebo");
    args.push_back("robot_gazebo.launch");
    PocoProcess pp(command, args);
    pp.run();
}

int PocoProcess::run()
{
    int rc;
    try
    {
        Poco::Pipe outPipe;
        Poco::ProcessHandle ph = Poco::Process::launch(command_, args_, 0, &outPipe, 0);
        rc = ph.id();
        Poco::PipeInputStream istr(outPipe);
        Poco::StreamCopier::copyStream(istr, std::cout);
    }
    catch (Poco::SystemException& exc)
    {
        std::cout << exc.displayText() << std::endl;
        return (-1);
    }
    return rc;
}
 
This works fine (launching the process) but, the problem is that my interface freezes while waiting for the process to finish, which is really undesirable.
 
So, is there anyway that I can launch a POCO Process in the background ?
 
PS: (Hopelessly) I tried even the "&" on the args vector but it didn't work !
 
Thanks,

原文：https://stackoverflow.com/questions/37460127