def callback(parameter_list):
nonlocal callback_called
callback_called = True
r = SetParametersResult(successful=True)
for p in parameter_list:
if p.type_ != Parameter.Type.INTEGER:
r.successful = False
r.reason = 'Integer parameters only'
return r
if p.value % 2 != 0:
r.successful = False
r.reason = 'Integer must be even'
return r
return r
def _on_set_parameters(self, params):
"""Handle Parameter events especially for side."""
result = SetParametersResult()
try:
for param in params:
if param.name == "side":
self.get_logger().warn(f"Side changed {param.value}")
self.side = param
else:
setattr(self, param.name, param)
result.successful = True
except MatchStartedException as e:
result.reason = e
return result
def _on_set_parameters(self, params):
"""Handle Parameter events especially for side"""
result = SetParametersResult()
try:
for param in params:
if param.name == "side":
self.get_logger().warn(f"Side changed {param.value}")
self.side = param
else:
setattr(self, param.name, param)
(
self.robot_pose.pose.position.x,
self.robot_pose.pose.position.y,
theta,
) = self.fetchStartPosition()
self.robot_pose.pose.orientation = euler_to_quaternion(theta)
self.update_transform()
result.successful = True
except BaseException as e:
result.reason = e
return result
