def __init__(self):
super().__init__('slide_show')
self._bridge = cv_bridge.CvBridge()
dir_desc = ParameterDescriptor()
# TODO(sloretz) Allow changing directory
dir_desc.read_only = True
dir_desc.description = 'Directory from which images will be published'
dir_desc.type = ParameterType.PARAMETER_STRING
dir_desc.name = 'directory'
self.declare_parameter(dir_desc.name, os.path.abspath(os.curdir),
dir_desc)
self._dirpath = self.get_parameter(dir_desc.name).value
self._current_file = None
image_qos = QoSProfile(history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
reliability=QoSReliabilityPolicy.RELIABLE,
depth=1)
self._image_pub = self.create_publisher(Image, 'images', image_qos)
period_desc = ParameterDescriptor()
# TODO(sloretz) allow changing period
period_desc.read_only = True
period_desc.description = 'Time between publishing images (seconds)'
period_desc.type = ParameterType.PARAMETER_DOUBLE
period_desc.name = 'period'
self.declare_parameter(period_desc.name, 5.0, period_desc)
period = self.get_parameter(period_desc.name).value
self._next_slide_timer = self.create_timer(period, self.on_timer)
self.publish_next()
def add(self,
param_name,
param_type=None,
default=None,
description=None,
min=None,
max=None,
step=None):
describtor = ParameterDescriptor()
describtor.name = param_name
if description is None:
describtor.description = param_name
else:
describtor.description = description
if param_type is None and default is not None:
param_type = type(default)
py2ros_param_type = {
None: ParameterType.PARAMETER_NOT_SET,
bool: ParameterType.PARAMETER_BOOL,
int: ParameterType.PARAMETER_INTEGER,
float: ParameterType.PARAMETER_DOUBLE,
str: ParameterType.PARAMETER_STRING
}
param_type = py2ros_param_type.get(param_type, param_type)
describtor.type = param_type
if param_type == ParameterType.PARAMETER_INTEGER:
if step is None:
step = 1
if all(x is not None or isinstance(x, int)
for x in [min, max, step]):
param_range = IntegerRange()
param_range.from_value = min
param_range.to_value = max
param_range.step = step
describtor.integer_range = [param_range]
if param_type == ParameterType.PARAMETER_DOUBLE:
if step is None:
step = 0.01
if all(x is not None for x in [min, max]):
param_range = FloatingPointRange()
param_range.from_value = float(min)
param_range.to_value = float(max)
param_range.step = float(step)
describtor.floating_point_range = [param_range]
type2default_default = {
ParameterType.PARAMETER_NOT_SET: 0,
ParameterType.PARAMETER_BOOL: False,
ParameterType.PARAMETER_INTEGER: 0,
ParameterType.PARAMETER_DOUBLE: 0.0,
ParameterType.PARAMETER_STRING: ""
}
if default is None:
default = type2default_default[param_type]
self.param_cache.append((param_name, default, describtor))