def send_request_to_change_parameters(
self, # Arguments are alphabetically sorted
expect,
frame_rate: float,
output_directory: Path,
real_time_factor: float,
scenario: Path,
):
"""Send request to change scenario interpreter's parameters."""
request = rcl_interfaces.srv.SetParameters.Request()
request.parameters = [
Parameter(
name="intended_result",
value=ParameterValue(type=ParameterType.PARAMETER_STRING,
string_value=str(expect.name)),
),
Parameter(
name="osc_path",
value=ParameterValue(type=ParameterType.PARAMETER_STRING,
string_value=str(scenario)),
),
Parameter(
name="output_directory",
value=ParameterValue(
type=ParameterType.PARAMETER_STRING,
string_value=str(output_directory),
),
),
Parameter(
name="local_real_time_factor",
value=ParameterValue(type=ParameterType.PARAMETER_DOUBLE,
double_value=real_time_factor),
),
Parameter(
name="local_frame_rate",
value=ParameterValue(type=ParameterType.PARAMETER_DOUBLE,
double_value=frame_rate),
),
]
future = self.client_set_parameters.call_async(request)
rclpy.spin_until_future_complete(self,
future,
timeout_sec=self.timeout_sec)
return future
def _set_param(node_name, name, value, parameter_type=None):
"""
Internal helper function for set_param.
Attempts to set the given parameter in the target node with the desired value,
deducing the parameter type if it's not specified.
parameter_type allows forcing a type for the given value; this is useful to delete parameters.
"""
parameter = Parameter()
parameter.name = name
if parameter_type is None:
parameter.value = get_parameter_value(string_value=value)
else:
parameter.value = ParameterValue()
parameter.value.type = parameter_type
if parameter_type != ParameterType.PARAMETER_NOT_SET:
setattr(parameter.value, _parameter_type_mapping[parameter_type])
try:
# call_get_parameters will fail if node does not exist.
call_set_parameters(node=_node,
node_name=node_name,
parameters=[parameter])
except:
pass