def execute(self,parameter_name,blocking=False):
ah = ActionHandle("set", "light", parameter_name, blocking, self.parse)
if(self.parse):
return ah
else:
ah.set_active(mode="topic")
rospy.loginfo("Set light to <<%s>>",parameter_name)
# get joint values from parameter server
if type(parameter_name) is str:
if not rospy.has_param(self.ns_global_prefix + "/light/" + parameter_name):
rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",self.ns_global_prefix + "/light/" + parameter_name)
return 2
param = rospy.get_param(self.ns_global_prefix + "/light/" + parameter_name)
else:
param = parameter_name
# check color parameters
if not type(param) is list: # check outer list
rospy.logerr("no valid parameter for light: not a list, aborting...")
print "parameter is:",param
ah.error_code = 3
return ah
else:
if not len(param) == 3: # check dimension
rospy.logerr("no valid parameter for light: dimension should be 3 (r,g,b) and is %d, aborting...",len(param))
print "parameter is:",param
ah.error_code = 3
return ah
else:
for i in param:
#print i,"type1 = ", type(i)
if not ((type(i) is float) or (type(i) is int)): # check type
#print type(i)
rospy.logerr("no valid parameter for light: not a list of float or int, aborting...")
print "parameter is:",param
ah.error_code = 3
return ah
else:
rospy.logdebug("accepted parameter %f for light",i)
# convert to ColorRGBA message
color = ColorRGBA()
color.r = param[0]
color.g = param[1]
color.b = param[2]
color.a = 1 # Transparency
# publish color
self.pub_light.publish(color)
ah.set_succeeded()
ah.error_code = 0
return ah
