def _create_services(self) -> None: self.create_service( srv_type=Trigger, srv_name="/march/gait_selection/get_version_map", callback=lambda req, res: Trigger.Response( success=True, message=str(self.gait_version_map)), ) self.create_service( srv_type=Trigger, srv_name="/march/gait_selection/get_gait_directory", callback=lambda req, res: Trigger.Response( success=True, message=self._directory_name), ) self.create_service( srv_type=Trigger, srv_name="/march/gait_selection/get_default_dict", callback=self.get_default_dict_cb, ) self.create_service( srv_type=SetGaitVersion, srv_name="/march/gait_selection/set_gait_version", callback=self.set_gait_versions_cb, ) self.create_service( srv_type=Trigger, srv_name="/march/gait_selection/get_directory_structure", callback=lambda req, res: Trigger.Response( success=True, message=str(self.scan_directory())), ) self.create_service( srv_type=ContainsGait, srv_name="/march/gait_selection/contains_gait", callback=self.contains_gait_cb, )
def get_default_dict_cb(self, req, res): defaults = { "gaits": self._gait_version_map, "positions": self._positions } return Trigger.Response(success=True, message=str(defaults))