def _create_services(self) -> None:
self.create_service(
srv_type=Trigger,
srv_name="/march/gait_selection/get_version_map",
callback=lambda req, res: Trigger.Response(
success=True, message=str(self.gait_version_map)),
)
self.create_service(
srv_type=Trigger,
srv_name="/march/gait_selection/get_gait_directory",
callback=lambda req, res: Trigger.Response(
success=True, message=self._directory_name),
)
self.create_service(
srv_type=Trigger,
srv_name="/march/gait_selection/get_default_dict",
callback=self.get_default_dict_cb,
)
self.create_service(
srv_type=SetGaitVersion,
srv_name="/march/gait_selection/set_gait_version",
callback=self.set_gait_versions_cb,
)
self.create_service(
srv_type=Trigger,
srv_name="/march/gait_selection/get_directory_structure",
callback=lambda req, res: Trigger.Response(
success=True, message=str(self.scan_directory())),
)
self.create_service(
srv_type=ContainsGait,
srv_name="/march/gait_selection/contains_gait",
callback=self.contains_gait_cb,
)
def get_default_dict_cb(self, req, res):
defaults = {
"gaits": self._gait_version_map,
"positions": self._positions
}
return Trigger.Response(success=True, message=str(defaults))
