Python rospy.set_param() Examples

The following are 23 code examples of rospy.set_param(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module rospy , or try the search function .
Example #1
Source File: load_vehicle.py    From fssim with MIT License 6 votes vote down vote up
def load_robot_description():
    sensors_config_file =   rospy.get_param('/fssim/sensors_config_file')
    car_config_file     =   rospy.get_param('/fssim/car_config_file')
    car_dimensions_file =   rospy.get_param('/fssim/car_structure_file')
    robot_name          =   rospy.get_param('/fssim/robot_name')

    model_filepath = rospy.get_param('/fssim/model_filepath')

    print sensors_config_file
    print car_config_file
    print car_dimensions_file
    print model_filepath

    try:
        command_string = "rosrun xacro xacro --inorder {} robot_name:='{}' sensors_config_file:='{}' car_config_file:='{}' car_dimensions_file:='{}".format(model_filepath, 
            robot_name, sensors_config_file, car_config_file, car_dimensions_file)
        robot_description = subprocess.check_output(command_string, shell=True, stderr=subprocess.STDOUT)   
    except subprocess.CalledProcessError as process_error:
        rospy.logfatal('Failed to run xacro command with error: \n%s', process_error.output)
        sys.exit(1)

    rospy.set_param("/robot_description", robot_description) 
Example #2
Source File: handeye_calibration.py    From easy_handeye with GNU Lesser General Public License v3.0 6 votes vote down vote up
def to_parameters(self):
        """
        Fetches a calibration from ROS parameters in the namespace of the current node into this object.

        :rtype: None
        """
        calib_dict = self.to_dict()

        root_params = ['eye_on_hand', 'tracking_base_frame']
        if calib_dict['eye_on_hand']:
            root_params.append('robot_effector_frame')
        else:
            root_params.append('robot_base_frame')

        for rp in root_params:
            rospy.set_param(rp, calib_dict[rp])

        transf_params = 'x', 'y', 'z', 'qx', 'qy', 'qz', 'qw'

        for tp in transf_params:
            rospy.set_param('transformation/'+tp, calib_dict['transformation'][tp]) 
Example #3
Source File: param_annealer.py    From drivebot with MIT License 5 votes vote down vote up
def emit(n, v):
    print datetime.datetime.now().strftime('%c'), v
    rospy.set_param(o.param, v) 
Example #4
Source File: crazyflie.py    From crazyswarm with MIT License 5 votes vote down vote up
def setParam(self, name, value):
        """Broadcasted setParam. See Crazyflie.setParam() for details."""
        rospy.set_param("/allcfs/" + name, value)
        self.updateParamsService([name]) 
Example #5
Source File: crazyflie.py    From crazyswarm with MIT License 5 votes vote down vote up
def setParams(self, params):
        """Changes the value of several parameters at once.

        See :meth:`getParam()` docs for overview of the parameter system.

        Args:
            params (Dict[str, Any]): Dict of parameter names/values.
        """
        for name, value in params.iteritems():
            rospy.set_param(self.prefix + "/" + name, value)
        self.updateParamsService(params.keys()) 
Example #6
Source File: crazyflie.py    From crazyswarm with MIT License 5 votes vote down vote up
def setParam(self, name, value):
        """Changes the value of the given parameter.

        See :meth:`getParam()` docs for overview of the parameter system.

        Args:
            name (str): The parameter's name.
            value (Any): The parameter's value.
        """
        rospy.set_param(self.prefix + "/" + name, value)
        self.updateParamsService([name]) 
Example #7
Source File: uarm_core.py    From UArmForROS with BSD 2-Clause "Simplified" License 5 votes vote down vote up
def readStopperStatus():
	val = uarm.get_tip_sensor()
	if val == True:
		print 'Stopper is actived'
		rospy.set_param('stopper_status','HIGH')
	else:
		print 'Stopper is not actived'
		rospy.set_param('stopper_status','LOW')


# Write single angle 
Example #8
Source File: uarm_core.py    From UArmForROS with BSD 2-Clause "Simplified" License 5 votes vote down vote up
def readCurrentAngles():
	ra = {}
	ra['s1'] = uarm.get_servo_angle(0)
	ra['s2'] = uarm.get_servo_angle(1)
	ra['s3'] = uarm.get_servo_angle(2)
	ra['s4'] = uarm.get_servo_angle(3)

	print 'Four Servo Angles: %2.2f, %2.2f, %2.2f and %2.2f degrees.' %(ra['s1'], ra['s2'],ra['s3'],ra['s4'])

	rospy.set_param('servo_1',ra['s1'])
	rospy.set_param('servo_2',ra['s2'])
	rospy.set_param('servo_3',ra['s3'])
	rospy.set_param('servo_4',ra['s4'])

# Read stopper function 
Example #9
Source File: uarm_core.py    From UArmForROS with BSD 2-Clause "Simplified" License 5 votes vote down vote up
def readCurrentCoords():
	cc = uarm.get_position()
	print 'Current location is x: %2.2fcm, y: %2.2fcm, z: %2.2fcm.' %(float(cc[0]), float(cc[1]), float(cc[2]))

	rospy.set_param('current_x', cc[0])
	rospy.set_param('current_y', float(cc[1]))
	rospy.set_param('current_z', float(cc[2]))

# Read current Angles function 
Example #10
Source File: battery_sim_server.py    From ROS-Robotics-Projects-SecondEdition with MIT License 5 votes vote down vote up
def goalFun(goal):
  rate = rospy.Rate(2)
  process = Process(target = batterySim)
  process.start()
  time.sleep(1)
  if goal.charge_state == 0:
	rospy.set_param("/MyRobot/BatteryStatus",goal.charge_state)
  elif goal.charge_state == 1:
	rospy.set_param("/MyRobot/BatteryStatus",goal.charge_state) 
Example #11
Source File: arduino.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #12
Source File: controller.py    From omg-tools with GNU Lesser General Public License v3.0 5 votes vote down vote up
def init_gazebo(self, st):
        rospy.set_param('gazebo/use_sim_time', True)
        try:
            ssm = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
        except rospy.ServiceException as e:
            print('Service call failed: %s' % (e))
        for k in range(self._n_robots):
            pose0, twist0 = Pose(), Twist()
            pose0.position.x = st.init_pose[k].pose[0]
            pose0.position.y = st.init_pose[k].pose[1]
            x, y, z, w = tf.transformations.quaternion_from_euler(0, 0, st.init_pose[k].pose[2])
            pose0.orientation.x = x
            pose0.orientation.y = y
            pose0.orientation.z = z
            pose0.orientation.w = w
            twist0.linear.x = 0.
            twist0.angular.z = 0.
            mod0 = ModelState('p3dx'+str(k), pose0, twist0, 'world')
            ssm(mod0)
        for l, k in enumerate(st.robobst):
            pose0, twist0 = Pose(), Twist()
            pose0.position.x = st.obstacles[k].pose[0]
            pose0.position.y = st.obstacles[k].pose[1]
            x, y, z, w = tf.transformations.quaternion_from_euler(0, 0, st.obstacles[k].pose[2])
            pose0.orientation.x = x
            pose0.orientation.y = y
            pose0.orientation.z = z
            pose0.orientation.w = w
            twist0.linear.x = 0.
            twist0.angular.z = 0.
            mod0 = ModelState('p3dx_obs'+str(l), pose0, twist0, 'world')
            ssm(mod0) 
Example #13
Source File: detect_crazyflie.py    From ROS-Robotics-By-Example with MIT License 5 votes vote down vote up
def camera_data(self, data):
      # set values on the parameter server
      rospy.set_param('camera_link', data.header.frame_id)  # kinect2_ir_optical_frame
      rospy.set_param('camera_height', data.height)         # sd height is 424 / qhd height is 540
      rospy.set_param('camera_width', data.width)           # sd width is 512 / qhd width is 960

      # set values for local variables
      self.cam_height = data.height
      self.cam_width = data.width


   # This callback function handles processing Kinect color image, looking for the green ball
   #  on the Crazyflie. 
Example #14
Source File: pr2_env.py    From visual_dynamics with MIT License 5 votes vote down vote up
def __init__(self, action_space, observation_space, state_space, sensor_names, dt=None):
        super(Pr2Env, self).__init__(action_space, observation_space, state_space, sensor_names)
        self._dt = 0.2 if dt is None else dt
        self.pr2 = PR2.PR2()
        self.pr2.larm.goto_posture('side')
        self.pr2.rarm.goto_posture('side')
        self.pr2.torso.go_down()
        gains = {'head_pan_joint': {'d': 2.0, 'i': 12.0, 'i_clamp': 0.5, 'p': 50.0},
                 'head_tilt_joint': {'d': 3.0, 'i': 4.0, 'i_clamp': 0.2, 'p': 1000.0}}
        rospy.set_param('/head_traj_controller/gains', gains)
        self.pr2.head.set_pan_tilt(*((self.state_space.low + self.state_space.high) / 2.0))

        self.msg_and_camera_sensor = camera_sensor.MessageAndCameraSensor()
        rospy.sleep(5.0) 
Example #15
Source File: arduino (copy).py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #16
Source File: arduino_bkup.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #17
Source File: arduino.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #18
Source File: arduino_bkup.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #19
Source File: arduino.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #20
Source File: arduino (copy).py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #21
Source File: arduino_bkup.py    From ROS-Programming-Building-Powerful-Robots with MIT License 5 votes vote down vote up
def _HandleSetDriveGains(self, request):
		""" Handle the setting of the drive gains (PID). """
		
		# We persist the new values in the parameter server
		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
		
		commandTimeout = self._GetCommandTimeoutForSpeedController()
		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
		self._WriteSpeedControllerParams(speedControllerParams)
		return SetDriveControlGainsResponse() 
Example #22
Source File: dynamixel_serial_proxy.py    From ROS-Robotics-Projects-SecondEdition with MIT License 4 votes vote down vote up
def __fill_motor_parameters(self, motor_id, model_number):
        """
        Stores some extra information about each motor on the parameter server.
        Some of these paramters are used in joint controller implementation.
        """
        angles = self.dxl_io.get_angle_limits(motor_id)
        voltage = self.dxl_io.get_voltage(motor_id)
        voltages = self.dxl_io.get_voltage_limits(motor_id)
        
        rospy.set_param('dynamixel/%s/%d/model_number' %(self.port_namespace, motor_id), model_number)
        rospy.set_param('dynamixel/%s/%d/model_name' %(self.port_namespace, motor_id), DXL_MODEL_TO_PARAMS[model_number]['name'])
        rospy.set_param('dynamixel/%s/%d/min_angle' %(self.port_namespace, motor_id), angles['min'])
        rospy.set_param('dynamixel/%s/%d/max_angle' %(self.port_namespace, motor_id), angles['max'])
        
        torque_per_volt = DXL_MODEL_TO_PARAMS[model_number]['torque_per_volt']
        rospy.set_param('dynamixel/%s/%d/torque_per_volt' %(self.port_namespace, motor_id), torque_per_volt)
        rospy.set_param('dynamixel/%s/%d/max_torque' %(self.port_namespace, motor_id), torque_per_volt * voltage)
        
        velocity_per_volt = DXL_MODEL_TO_PARAMS[model_number]['velocity_per_volt']
        rpm_per_tick = DXL_MODEL_TO_PARAMS[model_number]['rpm_per_tick']
        rospy.set_param('dynamixel/%s/%d/velocity_per_volt' %(self.port_namespace, motor_id), velocity_per_volt)
        rospy.set_param('dynamixel/%s/%d/max_velocity' %(self.port_namespace, motor_id), velocity_per_volt * voltage)
        rospy.set_param('dynamixel/%s/%d/radians_second_per_encoder_tick' %(self.port_namespace, motor_id), rpm_per_tick * RPM_TO_RADSEC)
        
        encoder_resolution = DXL_MODEL_TO_PARAMS[model_number]['encoder_resolution']
        range_degrees = DXL_MODEL_TO_PARAMS[model_number]['range_degrees']
        range_radians = math.radians(range_degrees)
        rospy.set_param('dynamixel/%s/%d/encoder_resolution' %(self.port_namespace, motor_id), encoder_resolution)
        rospy.set_param('dynamixel/%s/%d/range_degrees' %(self.port_namespace, motor_id), range_degrees)
        rospy.set_param('dynamixel/%s/%d/range_radians' %(self.port_namespace, motor_id), range_radians)
        rospy.set_param('dynamixel/%s/%d/encoder_ticks_per_degree' %(self.port_namespace, motor_id), encoder_resolution / range_degrees)
        rospy.set_param('dynamixel/%s/%d/encoder_ticks_per_radian' %(self.port_namespace, motor_id), encoder_resolution / range_radians)
        rospy.set_param('dynamixel/%s/%d/degrees_per_encoder_tick' %(self.port_namespace, motor_id), range_degrees / encoder_resolution)
        rospy.set_param('dynamixel/%s/%d/radians_per_encoder_tick' %(self.port_namespace, motor_id), range_radians / encoder_resolution)
        
        # keep some parameters around for diagnostics
        self.motor_static_info[motor_id] = {}
        self.motor_static_info[motor_id]['model'] = DXL_MODEL_TO_PARAMS[model_number]['name']
        self.motor_static_info[motor_id]['firmware'] = self.dxl_io.get_firmware_version(motor_id)
        self.motor_static_info[motor_id]['delay'] = self.dxl_io.get_return_delay_time(motor_id)
        self.motor_static_info[motor_id]['min_angle'] = angles['min']
        self.motor_static_info[motor_id]['max_angle'] = angles['max']
        self.motor_static_info[motor_id]['min_voltage'] = voltages['min']
        self.motor_static_info[motor_id]['max_voltage'] = voltages['max'] 
Example #23
Source File: dynamixel_serial_proxy.py    From ROS-Robotics-Projects-SecondEdition with MIT License 4 votes vote down vote up
def __find_motors(self):
        rospy.loginfo('%s: Pinging motor IDs %d through %d...' % (self.port_namespace, self.min_motor_id, self.max_motor_id))
        self.motors = []
        self.motor_static_info = {}
        
        for motor_id in range(self.min_motor_id, self.max_motor_id + 1):
            for trial in range(self.num_ping_retries):
                try:
                    result = self.dxl_io.ping(motor_id)
                except Exception as ex:
                    rospy.logerr('Exception thrown while pinging motor %d - %s' % (motor_id, ex))
                    continue
                    
                if result:
                    self.motors.append(motor_id)
                    break
                    
        if not self.motors:
            rospy.logfatal('%s: No motors found.' % self.port_namespace)
            sys.exit(1)
            
        counts = defaultdict(int)
        
        to_delete_if_error = []
        for motor_id in self.motors:
            for trial in range(self.num_ping_retries):
                try:
                    model_number = self.dxl_io.get_model_number(motor_id)
                    self.__fill_motor_parameters(motor_id, model_number)
                except Exception as ex:
                    rospy.logerr('Exception thrown while getting attributes for motor %d - %s' % (motor_id, ex))
                    if trial == self.num_ping_retries - 1: to_delete_if_error.append(motor_id)
                    continue
                    
                counts[model_number] += 1
                break
                
        for motor_id in to_delete_if_error:
            self.motors.remove(motor_id)
            
        rospy.set_param('dynamixel/%s/connected_ids' % self.port_namespace, self.motors)
        
        status_str = '%s: Found %d motors - ' % (self.port_namespace, len(self.motors))
        for model_number,count in counts.items():
            if count:
                model_name = DXL_MODEL_TO_PARAMS[model_number]['name']
                status_str += '%d %s [' % (count, model_name)
                
                for motor_id in self.motors:
                    if self.motor_static_info[motor_id]['model'] == model_name:
                        status_str += '%d, ' % motor_id
                        
                status_str = status_str[:-2] + '], '
                
        rospy.loginfo('%s, initialization complete.' % status_str[:-2])