Python rospy.set_param() Examples
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code examples of rospy.set_param().
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Example #1
Source File: load_vehicle.py From fssim with MIT License | 6 votes |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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])