def _calc_level(self, config1, config2):
level = 0
for param in extract_params(self.type.config_description):
if config1[param['name']] != config2[param['name']]:
level |= param['level']
return level
def _clamp(self, config):
for param in extract_params(self.type.config_description):
maxval = self.type.max[param['name']]
minval = self.type.min[param['name']]
val = config[param['name']]
if val > maxval and maxval != "":
config[param['name']] = maxval
elif val < minval and minval != "":
config[param['name']] = minval
def _descriptions_msg(self, msg):
self.group_description = decode_description(msg)
self.param_description = extract_params(self.group_description)
# Build map from parameter name to type
self._param_types = {}
for p in self.param_description:
n, t = p.get('name'), p.get('type')
if n is not None and t is not None:
self._param_types[n] = self._param_type_from_string(t)
with self._cv:
self._cv.notifyAll()
if self._description_callback is not None:
self._description_callback(self.param_description)
def __init__(self, config_description):
self.config_description = config_description
self.min = {}
self.max = {}
self.defaults = {}
self.level = {}
self.type = {}
self.all_level = 0
for param in extract_params(config_description):
self.min[param['name']] = param['min']
self.max[param['name']] = param['max']
self.defaults[param['name']] = param['default']
self.level[param['name']] = param['level']
self.type[param['name']] = param['type']
self.all_level = self.all_level | param['level']
"level": 0,
"min": 0,
"type": "int",
},
],
"type": "",
"id": 0,
}
min = {}
max = {}
defaults = {}
level = {}
type = {}
all_level = 0
# def extract_params(config):
# params = []
# params.extend(config['parameters'])
# for group in config['groups']:
# params.extend(extract_params(group))
# return params
for param in extract_params(config_description):
min[param["name"]] = param["min"]
max[param["name"]] = param["max"]
defaults[param["name"]] = param["default"]
level[param["name"]] = param["level"]
type[param["name"]] = param["type"]
all_level = all_level | param["level"]
inf = float('inf')
config_description = {'upper': 'DEFAULT', 'lower': 'groups', 'srcline': 246, 'name': 'Default', 'parent': 0, 'srcfile': '/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'cstate': 'true', 'parentname': 'Default', 'class': 'DEFAULT', 'field': 'default', 'state': True, 'parentclass': '', 'groups': [], 'parameters': [{'srcline': 293, 'description': 'Whether to apply this plugin or not', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'enabled', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 293, 'description': "Whether to clear the robot's footprint of lethal obstacles", 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'footprint_clearing_enabled', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 293, 'description': 'The maximum height of any obstacle to be inserted into the costmap in meters.', 'max': 50.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'max_obstacle_height', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 293, 'description': 'Method for combining two layers', 'max': 2147483647, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'combination_method', 'edit_method': "{'enum_description': 'Method for combining layers enum', 'enum': [{'srcline': 11, 'description': 'Overwrite values', 'srcfile': '/home/ros/catkin_ws/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg', 'cconsttype': 'const int', 'value': 0, 'ctype': 'int', 'type': 'int', 'name': 'Overwrite'}, {'srcline': 12, 'description': 'Take the maximum of the values', 'srcfile': '/home/ros/catkin_ws/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'Maximum'}, {'srcline': 13, 'description': 'Do nothing', 'srcfile': '/home/ros/catkin_ws/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg', 'cconsttype': 'const int', 'value': 99, 'ctype': 'int', 'type': 'int', 'name': 'Nothing'}]}", 'default': 1, 'level': 0, 'min': -2147483648, 'type': 'int'}], 'type': '', 'id': 0}
min = {}
max = {}
defaults = {}
level = {}
type = {}
all_level = 0
#def extract_params(config):
# params = []
# params.extend(config['parameters'])
# for group in config['groups']:
# params.extend(extract_params(group))
# return params
for param in extract_params(config_description):
min[param['name']] = param['min']
max[param['name']] = param['max']
defaults[param['name']] = param['default']
level[param['name']] = param['level']
type[param['name']] = param['type']
all_level = all_level | param['level']
ObstaclePlugin_Overwrite = 0
ObstaclePlugin_Maximum = 1
ObstaclePlugin_Nothing = 99
def _copy_to_parameter_server(self):
for param in extract_params(self.type.config_description):
rospy.set_param(self.ns + param['name'], self.config[param['name']])
def _copy_from_parameter_server(self):
for param in extract_params(self.type.config_description):
try:
self.config[param['name']] = rospy.get_param(self.ns + param['name'])
except KeyError:
pass
def _copy_to_parameter_server(self):
for param in extract_params(self.type.config_description):
rospy.set_param(self.ns + param['name'],
self.config[param['name']])
