def get_service_areas(self):
result = []
s_count = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area_count')
for i in range(1,s_count+1):
try:
n = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/name')
h = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/height')
x_pos = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/xpos')
y_pos = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/ypos')
o = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/orientation')
lpx = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/lPointX')
lpy = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/lPointY')
rpx = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/rPointX')
rpy = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/rPointY')
s = service_area(n, h, x_pos, y_pos,(lpx, lpy), (rpx, rpy), o)
result.append(s)
except:
break
return result
def get_service_areas(self):
result = []
s_count = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area_count')
for i in range(1,s_count+1):
try:
n = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/name')
h = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/height')
x_pos = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/xpos')
y_pos = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/ypos')
o = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/orientation')
lpx = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/lPointX')
lpy = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/lPointY')
rpx = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/rPointX')
rpy = rospy.get_param('youbot_manipulation_ai_re/service_areas/service_area'+str(i)+'/rPointY')
s = service_area(n, h, x_pos, y_pos,(lpx, lpy), (rpx, rpy), o)
print o
result.append(s)
except Exception as ex:
rospy.logerr("Exception occured while parsing service_areas from rosparam: %s", str(ex))
break
self.validate_service_areas(result)
return result
