def __call__(self, prefix, parsed_args, **kwargs):
with DirectNode(parsed_args) as node:
parameter_names = call_list_parameters(
node=node, node_name=parsed_args.controller_manager
)
suffix = '.type'
return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden_nodes)
absolute_node_name = get_absolute_node_name(args.node_name)
node_name = parse_node_name(absolute_node_name)
if absolute_node_name:
if absolute_node_name not in [n.full_name for n in node_names]:
return 'Node not found'
if not os.path.isdir(args.output_dir):
raise RuntimeError(
f"'{args.output_dir}' is not a valid directory.")
with DirectNode(args) as node:
yaml_output = {node_name.full_name: {'ros__parameters': {}}}
# retrieve values
response = call_list_parameters(node=node, node_name=absolute_node_name)
if response is None:
raise RuntimeError(
'Wait for service timed out waiting for '
f'parameter services for node {node_name.full_name}')
elif response.result() is None:
e = response.exception()
raise RuntimeError(
'Exception while calling service of node '
f"'{node_name.full_name}': {e}")
response = response.result().result.names
response = sorted(response)
parameter_values = self.get_parameter_values(node, absolute_node_name, response)
for param_name, pval in zip(response, parameter_values):
self.insert_dict(
yaml_output[node_name.full_name]['ros__parameters'], param_name, pval)
if args.print:
print(
"WARNING: '--print' is deprecated; this utility prints to stdout by default",
file=sys.stderr)
if args.output_dir != '.':
print(
"WARNING: '--output-dir' is deprecated; use redirection to save to a file",
file=sys.stderr)
else:
print(yaml.dump(yaml_output, default_flow_style=False))
return
if absolute_node_name[0] == '/':
file_name = absolute_node_name[1:].replace('/', '__')
else:
file_name = absolute_node_name.replace('/', '__')
print('Saving to: ', os.path.join(args.output_dir, file_name + '.yaml'))
with open(os.path.join(args.output_dir, file_name + '.yaml'), 'w') as yaml_file:
yaml.dump(yaml_output, yaml_file, default_flow_style=False)
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name:
if node_name not in [n.full_name for n in node_names]:
return 'Node not found'
node_names = [
n for n in node_names if node_name == n.full_name]
regex_filter = getattr(args, 'filter')
if regex_filter is not None:
regex_filter = re.compile(regex_filter[0])
with DirectNode(args) as node:
responses = {}
for node_name in node_names:
responses[node_name] = call_list_parameters(
node=node,
node_name=node_name.full_name,
prefixes=args.param_prefixes)
# print responses
for node_name in sorted(responses.keys()):
response = responses[node_name]
if response is None:
print(
'Wait for service timed out waiting for '
f'parameter services for node {node_name}')
continue
elif response.result() is None:
e = response.exception()
print(
'Exception while calling service of node '
f"'{node_name.full_name}': {e}", file=sys.stderr)
continue
response = response.result().result.names
sorted_names = sorted(response)
if regex_filter is not None:
sorted_names = [name for name in sorted_names if regex_filter.match(name)]
if not args.node_name and sorted_names:
print(f'{node_name.full_name}:')
# get descriptors for the node if needs to print parameter type
name_to_type_map = {}
if args.param_type is True:
resp = call_describe_parameters(
node=node, node_name=node_name.full_name,
parameter_names=sorted_names)
for descriptor in resp.descriptors:
name_to_type_map[descriptor.name] = get_parameter_type_string(
descriptor.type)
for name in sorted_names:
if args.param_type is True:
param_type_str = name_to_type_map[name]
print(f' {name} (type: {param_type_str})')
else:
print(f' {name}')
