我们从Python开源项目中，提取了以下30个代码示例，用于说明如何使用rospy.has_param()。
def _read_unit_offsets(self): if not rospy.has_param('~num_of_units'): rospy.logwarn("No unit offset parameters found!") num_of_units = rospy.get_param('~num_of_units', 0) self._unit_offsets = np.zeros((num_of_units, 3)) self._unit_coefficients = np.zeros((num_of_units, 2)) for i in xrange(num_of_units): unit_params = rospy.get_param('~unit_{}'.format(i)) x = unit_params['x'] y = unit_params['y'] z = unit_params['z'] self._unit_offsets[i, :] = [x, y, z] p0 = unit_params['p0'] p1 = unit_params['p1'] self._unit_coefficients[i, :] = [p0, p1] rospy.loginfo("Unit offsets: {}".format(self._unit_offsets)) rospy.loginfo("Unit coefficients: {}".format(self._unit_coefficients))
def __init__(self): if rospy.has_param('~orientation_offset'): # Orientation offset as quaterion q = [x,y,z,w]. self.orientation_offset = rospy.get_param('~orientation_offset') else: yaw_offset_deg = rospy.get_param('~yaw_offset_deg', 0.0) self.orientation_offset = tf.quaternion_from_euler(0.0, 0.0, math.radians(yaw_offset_deg)) rospy.Subscriber(rospy.get_name() + "/imu_in", Imu, self.imu_callback) self.pub_imu_out = rospy.Publisher(rospy.get_name() + '/imu_out', Imu, queue_size=10) rospy.spin()
def __init__(self, name): rospy.init_node(name) self.start_rotation = None self.WIDTH = 320 self.HEIGHT = 240 self.set_x_range(-30.0, 30.0) self.set_y_range(-30.0, 30.0) self.set_z_range(-30.0, 30.0) self.completed_image = None if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run team_zarj_main.py, missing parameters!") rospy.logerr("Missing parameter '/ihmc_ros/robot_name'") else: self.zarj = ZarjOS()
def lookup_feet(name, tf_buffer): global lf_start_position global lf_start_orientation global rf_start_position global rf_start_orientation lfp = "/ihmc_ros/{0}/left_foot_frame_name".format(name) rfp = "/ihmc_ros/{0}/right_foot_frame_name".format(name) if rospy.has_param(rfp) and rospy.has_param(lfp): lfname = rospy.get_param(lfp) rfname = rospy.get_param(rfp) leftFootWorld = tf_buffer.lookup_transform('world', lfname, rospy.Time()) lf_start_orientation = leftFootWorld.transform.rotation lf_start_position = leftFootWorld.transform.translation rightFootWorld = tf_buffer.lookup_transform('world', rfname, rospy.Time()) rf_start_orientation = rightFootWorld.transform.rotation rf_start_position = rightFootWorld.transform.translation
def lookupFeet(name, tfBuffer): global lf_start_position global lf_start_orientation global rf_start_position global rf_start_orientation lfp = "/ihmc_ros/{0}/left_foot_frame_name".format(name) rfp = "/ihmc_ros/{0}/right_foot_frame_name".format(name) if rospy.has_param(rfp) and rospy.has_param(lfp): lfname = rospy.get_param(lfp) rfname = rospy.get_param(rfp) leftFootWorld = tfBuffer.lookup_transform('world', lfname, rospy.Time()) lf_start_orientation = leftFootWorld.transform.rotation lf_start_position = leftFootWorld.transform.translation rightFootWorld = tfBuffer.lookup_transform('world', rfname, rospy.Time()) rf_start_orientation = rightFootWorld.transform.rotation rf_start_position = rightFootWorld.transform.translation
def get_param(param_name): """ GET /api/<version>/param/<param_name> GET the value for a specific parameter at param_name in the ROS Parameter Server. Parameter value is in the "result" field of the JSON response body. If parameter does not exist, a JSON document with ERROR field will be returned. """ if not rospy.has_param(param_name): return error("No such parameter exists") return jsonify({"result": str(rospy.get_param(param_name))})
def init_config( self ): # mandatory configurations to be set self.config['frame_rate'] = rospy.get_param('~frame_rate') self.config['source'] = rospy.get_param('~source') self.config['resolution'] = rospy.get_param('~resolution') self.config['color_space'] = rospy.get_param('~color_space') # optional for camera frames # top camera with default if rospy.has_param('~camera_top_frame'): self.config['camera_top_frame'] = rospy.get_param('~camera_top_frame') else: self.config['camera_top_frame'] = "/CameraTop_optical_frame" # bottom camera with default if rospy.has_param('~camera_bottom_frame'): self.config['camera_bottom_frame'] = rospy.get_param('~camera_bottom_frame') else: self.config['camera_bottom_frame'] = "/CameraBottom_optical_frame" # depth camera with default if rospy.has_param('~camera_depth_frame'): self.config['camera_depth_frame'] = rospy.get_param('~camera_depth_frame') else: self.config['camera_depth_frame'] = "/CameraDepth_optical_frame" #load calibration files if rospy.has_param('~calibration_file_top'): self.config['calibration_file_top'] = rospy.get_param('~calibration_file_top') else: rospy.loginfo('no camera calibration for top camera found') if rospy.has_param('~calibration_file_bottom'): self.config['calibration_file_bottom'] = rospy.get_param('~calibration_file_bottom') else: rospy.loginfo('no camera calibration for bottom camera found') # set time reference if rospy.has_param('~use_ros_time'): self.config['use_ros_time'] = rospy.get_param('~use_ros_time') else: self.config['use_ros_time'] = False
def set_param(self, param_name, val): # Set private var value setattr(self, '_{}'.format(param_name), val) if val == None: full_param_name = '/needybot/blackboard/{}'.format(param_name) if rospy.has_param(full_param_name): rospy.delete_param(full_param_name) self.publish("delete_{}".format(param_name)) else: rospy.set_param('/needybot/blackboard/{}'.format(param_name), val) self.publish("set_{}".format(param_name))
def lookup_frame(self, frame): """ helper to lookup frames""" source = "/ihmc_ros/{0}/{1}".format(self.robot_name, frame) if rospy.has_param(source): return rospy.get_param(source) return None
def __init__(self, name): rospy.init_node(name) if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run team_zarj_main.py, missing parameters!") rospy.logerr("Missing parameter '/ihmc_ros/robot_name'") else: self.zarj_os = ZarjOS()
def __init__(self, name): rospy.init_node(name) self.zarj_os = ZarjOS() if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run team_zarj_main.py, missing parameters!") rospy.logerr("Missing parameter '/ihmc_ros/robot_name'") else: self.zarj_os = ZarjOS()
def __init__(self, name): rospy.init_node(name) if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run team_zarj_main.py, missing parameters!") rospy.logerr("Missing parameter '/ihmc_ros/robot_name'") else: self.zarj = zarj.ZarjOS()
def __init__(self, name): rospy.init_node(name) if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run team_zarj_main.py, missing parameters!") rospy.logerr("Missing parameter '/ihmc_ros/robot_name'") else: self.zarj = ZarjOS() #self.hand_trajectory_publisher = rospy.Publisher( # "/ihmc_ros/{0}/control/hand_trajectory".format(self.zarj.robot_name), # HandTrajectoryRosMessage, queue_size=10)
def __init__(self, name): rospy.init_node(name) self.harness = None if not rospy.has_param('/ihmc_ros/robot_name'): rospy.logerr("Cannot run, missing /ihmc_ros/robot_name")
def start(self, name): """ Start the field computer """ rospy.init_node(name) self.oclog('Getting robot_name') while not rospy.has_param('/ihmc_ros/robot_name'): print "-------------------------------------------------" print "Cannot run team_zarj_main.py, missing parameters!" print "Missing parameter '/ihmc_ros/robot_name'" print "Likely connection to ROS not present. Retry in 1 second." print "-------------------------------------------------" time.sleep(1) self.oclog('Booting ZarjOS') self.zarj = ZarjOS() self.start_task_service = rospy.ServiceProxy( "/srcsim/finals/start_task", StartTask) self.task_subscriber = rospy.Subscriber( "/srcsim/finals/task", Task, self.task_status) self.harness_subscriber = rospy.Subscriber( "/srcsim/finals/harness", Harness, self.harness_status) if HAS_SCORE: self.score_subscriber = rospy.Subscriber( "/srcsim/finals/score", Score, self.score_status) rate = rospy.Rate(10) # 10hz if self.task_subscriber.get_num_connections() == 0: self.oclog('waiting for task publisher...') while self.task_subscriber.get_num_connections() == 0: rate.sleep() if self.harness_subscriber.get_num_connections() == 0: self.oclog('waiting for harness publisher...') while self.harness_subscriber.get_num_connections() == 0: rate.sleep() self.oclog('...got it, field computer is operational!')
def fetch_param(name, default): if rospy.has_param(name): return rospy.get_param(name) else: print "parameter [%s] not defined. Defaulting to %.3f" % (name, default) return default
def define(self): self.say=rospy.Publisher('speak_string', String, queue_size=1) if not rospy.has_param('~words'): rospy.set_param('~words','???????') if not rospy.has_param('~SpeakerSubTopic'): rospy.set_param('~SpeakerSubTopic', 'stop_flag') self.words=rospy.get_param('~words') self.topic=rospy.get_param('~SpeakerSubTopic')
def shutdown_hook(): #check if there is a file to save to if rospy.has_param("~layer_file"): layer_file = rospy.get_param("~layer_file") #extract layer data for saving layer_data = {} global layer_objects for name in layer_objects: layer_data[name] = layer_objects[name].get_layer_data() #save data pickle.dump( layer_data, open( layer_file, "wb" ) ) rospy.loginfo("Layer file saved "+layer_file)
def get_param(name, value=None): private = "~%s" % name if rospy.has_param(private): return rospy.get_param(private) elif rospy.has_param(name): return rospy.get_param(name) else: return value
def __init__(self, zarj_os): log("Zarj walk initialization begin") self.zarj = zarj_os self.steps = 0 self.publishers = [] self.planned_steps = 0 self.stride = self.DEFAULT_STRIDE self.transfer_time = self.DEFAULT_TRANSFER_TIME self.swing_time = self.DEFAULT_SWING_TIME self.stance_width = self.DEFAULT_STANCE_WIDTH self.lf_start_position = Vector3() self.lf_start_orientation = Quaternion() self.rf_start_position = Vector3() self.rf_start_orientation = Quaternion() self.behavior = 0 self.start_walk = None self.walk_failure = None self.last_footstep = None lfp = "/ihmc_ros/{0}/left_foot_frame_name".format(self.zarj.robot_name) rfp = "/ihmc_ros/{0}/right_foot_frame_name".format(self.zarj.robot_name) if rospy.has_param(rfp) and rospy.has_param(lfp): self.lfname = rospy.get_param(lfp) self.rfname = rospy.get_param(rfp) if self.lfname == None or self.rfname == None: log("Zarj could not find left or right foot name") raise RuntimeError self.footstep_list_publisher = rospy.Publisher( "/ihmc_ros/{0}/control/footstep_list".format(self.zarj.robot_name), FootstepDataListRosMessage, queue_size=10) self.publishers.append(self.footstep_list_publisher) self.footstep_status_subscriber = rospy.Subscriber( "/ihmc_ros/{0}/output/footstep_status".format(self.zarj.robot_name), FootstepStatusRosMessage, self.receive_footstep_status) self.behavior_subscriber = rospy.Subscriber( "/ihmc_ros/{0}/output/behavior".format(self.zarj.robot_name), Int32, self.receive_behavior) self.abort_publisher = rospy.Publisher( "/ihmc_ros/{0}/control/abort_walking".format(self.zarj.robot_name), AbortWalkingRosMessage, queue_size=1) self.publishers.append(self.abort_publisher) self.lookup_feet() self.zarj.wait_for_publishers(self.publishers) log("Zarj walk initialization completed")
def main(limb_name, reset): """ Parameters ---------- limb : str Which limb to use. Choices are {'left', 'right'} reset : bool Whether to use previously saved picking and placing poses or to save new ones by using 0g mode and the OK cuff buttons. """ # Initialise ros node rospy.init_node("pick_and_place", anonymous=False) #pick_pose = [] #place_pose = [] #for ii in range(3): if reset or not rospy.has_param('~pick_and_place_poses'): rospy.loginfo( 'Saving picking pose for %s limb' % limb_name) pick_pose = limb_pose(limb_name) rospy.sleep(1) place_pose = limb_pose(limb_name) rospy.set_param('~pick_and_place_poses', {'pick': pick_pose.tolist(), 'place': place_pose.tolist()}) #rospy.loginfo('pick_pose is %s' % pick_pose) #rospy.loginfo('place_pose is %s' % place_pose) else: pick_pose = rospy.get_param('~pick_and_place_poses/pick') place_pose = rospy.get_param('~pick_and_place_poses/place') b = Baxter(limb_name) c1 = Controller() f = FilterValues() f.start_recording() #for ii in range(3): b.pick(pick_pose, controller=c1) b.place(place_pose) c1.save_centeringerr() f.stop_recording() f.convertandsave() #convert to numpy and save the recoreded data f.filter() f.plot()
def main(limb_name, reset): rospy.init_node("pick_and_place", anonymous=True) if reset or not rospy.has_param('~pick_and_place_poses'): #rospy.loginfo( #'Saving picking pose for %s limb' % limb_name) pick_pose = limb_pose(limb_name) rospy.sleep(1) place_pose = limb_pose(limb_name) rospy.set_param('~pick_and_place_poses', {'pick': pick_pose.tolist(), 'place': place_pose.tolist()}) #rospy.loginfo('pick_pose is %s' % pick_pose) #rospy.loginfo('place_pose is %s' % place_pose) else: pick_pose = rospy.get_param('~pick_and_place_poses/pick') place_pose = rospy.get_param('~pick_and_place_poses/place') b = Baxter(limb_name) while True: ser.write(b'm') s='' line = ser.readline() line = re.sub(' +',',',line) line = re.sub('\r\n','',line) pre = line.split(",") err = [(int(pre[j+8])-int(pre[j])) for j in range(1,8)] sum1 = 0 for i in range(0,7,1): sum1 = sum1 + err[i] avg = sum1/7 print(avg) endeffvel = baxter_interface.Limb(limb_name).endpoint_velocity() print(endeffvel) jacobianinv = baxter_kinematics(limb_name).jacobian_pseudo_inverse() print(jacobianinv) if avg>50: b.map_keyboardR() elif avg<-50: b.map_keyboardL() else: break
def main(limb_name, reset): """ Parameters ---------- limb : str Which limb to use. Choices are {'left', 'right'} reset : bool Whether to use previously saved picking and placing poses or to save new ones by using 0g mode and the OK cuff buttons. """ # Initialise ros node rospy.init_node("pick_and_place", anonymous=False) # Either load picking and placing poses from the parameter server # or save them using the 0g mode and the circular buttons on # baxter's cuffs if reset or not rospy.has_param('~pick_and_place_poses'): rospy.loginfo( 'Saving picking pose for %s limb' % limb_name) pick_pose = limb_pose(limb_name) rospy.sleep(1) place_pose = limb_pose(limb_name) # Parameter server can't store numpy arrays, so make sure # they're lists of Python floats (specifically not # numpy.float64's). I feel that's a bug in rospy.set_param. rospy.set_param('~pick_and_place_poses', {'pick': pick_pose.tolist(), 'place': place_pose.tolist()}) #rospy.loginfo('pick_pose is %s' % pick_pose) #rospy.loginfo('place_pose is %s' % place_pose) else: pick_pose = rospy.get_param('~pick_and_place_poses/pick') place_pose = rospy.get_param('~pick_and_place_poses/place') b = Baxter(limb_name) c = Controller() c1 = Controller_1() c2 = Controller_2() #f = FilterValues() #f.start_recording() for i in range(20): print ('this iss the intial pick pose') pick_pose[1]= 0.25286245 #change this for every new exp print (pick_pose) #pick_pose[1] = 0.30986200091872873 pick_pose[1] += random.uniform(-1,1)*0.00 ##introduce error in endposition (y axis) print ('ERROR introduced the intial pick pose') print (pick_pose) b.pick(pick_pose, controller=c, controller_1=None, controller_2 = c2) b.place(place_pose) #f.stop_recording() #f.filter() #f.plot() rospy.spin()
def layer_server(): #start node rospy.init_node('map_layer_server') rospy.on_shutdown(shutdown_hook) #init data names global layer_objects layer_objects = {} layer_file = None layer_data = None #check if there is a file name if rospy.has_param("~layer_file"): layer_file = rospy.get_param("~layer_file") rospy.loginfo("Map server set to load and save data") #check if this file exists, if so, load from it if os.path.isfile(layer_file): rospy.loginfo("Layer file loaded from "+layer_file) layer_data = pickle.load( open( layer_file, "rb" ) ) #load parameters layer_names = rospy.get_param("~layer_names") layer_name_list = layer_names.split() #set up layers for name in layer_name_list: #load layer configuration parameters layer_cfg = rospy.get_param("~"+name) #create layers with given configuration #reload saved data if available if layer_data and layer_data[name]: layer_objects[name] = layer_instance(name,layer_cfg,layer_data=layer_data[name]) else: layer_objects[name] = layer_instance(name,layer_cfg) #set up service hanlder s = rospy.Service("map_layer_simple_lookup",SimpleLookup,SimpleLookupCallback) rospy.loginfo("Map Layer Server ready") # spin() simply keeps python from exiting until this node is stopped rospy.spin()
