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