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Foxy backport Add rosparam verb load (#590) #596

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Merged
ivanpauno merged 3 commits into from
Mar 5, 2021
Merged

Foxy backport Add rosparam verb load (#590) #596

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b080691
Add rosparam verb load (#590)
v-lopez Feb 13, 2021
e91f9bd
ros2 param dump/load should use fully qualified node names (#600)
ivanpauno Feb 22, 2021
12f8aef
Add wildcard loading to ros2 param load (#602)
v-lopez Feb 23, 2021
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69 changes: 69 additions & 0 deletions ros2param/ros2param/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,19 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import sys

from rcl_interfaces.msg import Parameter
from rcl_interfaces.msg import ParameterType
from rcl_interfaces.msg import ParameterValue
from rcl_interfaces.srv import DescribeParameters
from rcl_interfaces.srv import GetParameters
from rcl_interfaces.srv import ListParameters
from rcl_interfaces.srv import SetParameters
import rclpy
from rclpy.parameter import PARAMETER_SEPARATOR_STRING
from ros2cli.node.direct import DirectNode

import yaml


Expand Down Expand Up @@ -92,6 +97,70 @@ def get_parameter_value(*, string_value):
return value


def parse_parameter_dict(*, namespace, parameter_dict):
parameters = []
for param_name, param_value in parameter_dict.items():
full_param_name = namespace + param_name
# Unroll nested parameters
if type(param_value) == dict:
parameters += parse_parameter_dict(
namespace=full_param_name + PARAMETER_SEPARATOR_STRING,
parameter_dict=param_value)
else:
parameter = Parameter()
parameter.name = full_param_name
parameter.value = get_parameter_value(string_value=str(param_value))
parameters.append(parameter)
return parameters


def load_parameter_dict(*, node, node_name, parameter_dict):

parameters = parse_parameter_dict(namespace='', parameter_dict=parameter_dict)
response = call_set_parameters(
node=node, node_name=node_name, parameters=parameters)

# output response
assert len(response.results) == len(parameters)
for i in range(0, len(response.results)):
result = response.results[i]
param_name = parameters[i].name
if result.successful:
msg = 'Set parameter {} successful'.format(param_name)
if result.reason:
msg += ': ' + result.reason
print(msg)
else:
msg = 'Set parameter {} failed'.format(param_name)
if result.reason:
msg += ': ' + result.reason
print(msg, file=sys.stderr)


def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
# Remove leading slash and namespaces
with open(parameter_file, 'r') as f:
param_file = yaml.safe_load(f)
param_keys = []
if use_wildcard and '/**' in param_file:
param_keys.append('/**')
if node_name in param_file:
param_keys.append(node_name)

if param_keys == []:
raise RuntimeError('Param file does not contain parameters for {}, '
' only for nodes: {}' .format(node_name, param_file.keys()))
param_dict = {}
for k in param_keys:
value = param_file[k]
if type(value) != dict or 'ros__parameters' not in value:
raise RuntimeError('Invalid structure of parameter file for node {}'
'expected same format as provided by ros2 param dump'
.format(k))
param_dict.update(value['ros__parameters'])
load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)


def call_describe_parameters(*, node, node_name, parameter_names=None):
# create client
client = node.create_client(
Expand Down
4 changes: 2 additions & 2 deletions ros2param/ros2param/verb/dump.py
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Expand Up @@ -108,15 +108,15 @@ def main(self, *, args): # noqa: D102
# wait for response
rclpy.spin_until_future_complete(node, future)

yaml_output = {node_name.name: {'ros__parameters': {}}}
yaml_output = {node_name.full_name: {'ros__parameters': {}}}

# retrieve values
if future.result() is not None:
response = future.result()
for param_name in sorted(response.result.names):
pval = self.get_parameter_value(node, absolute_node_name, param_name)
self.insert_dict(
yaml_output[node_name.name]['ros__parameters'], param_name, pval)
yaml_output[node_name.full_name]['ros__parameters'], param_name, pval)
else:
e = future.exception()
raise RuntimeError(
Expand Down
54 changes: 54 additions & 0 deletions ros2param/ros2param/verb/load.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,54 @@
# Copyright 2021 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from ros2cli.node.direct import DirectNode
from ros2cli.node.strategy import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2node.api import get_absolute_node_name
from ros2node.api import get_node_names
from ros2node.api import NodeNameCompleter
from ros2param.api import load_parameter_file
from ros2param.verb import VerbExtension


class LoadVerb(VerbExtension):
"""Load parameter file for a node."""

def add_arguments(self, parser, cli_name): # noqa: D102
add_arguments(parser)
arg = parser.add_argument(
'node_name', help='Name of the ROS node')
arg.completer = NodeNameCompleter(
include_hidden_nodes_key='include_hidden_nodes')
parser.add_argument(
'--include-hidden-nodes', action='store_true',
help='Consider hidden nodes as well')
parser.add_argument(
'parameter_file', help='Parameter file')
parser.add_argument(
'--no-use-wildcard', action='store_true',
help="Do not load parameters in the '/**' namespace into the node")

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 not in {n.full_name for n in node_names}:
return 'Node not found'

with DirectNode(args) as node:
load_parameter_file(node=node, node_name=node_name, parameter_file=args.parameter_file,
use_wildcard=not args.no_use_wildcard)
1 change: 1 addition & 0 deletions ros2param/setup.py
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Expand Up @@ -46,6 +46,7 @@
'get = ros2param.verb.get:GetVerb',
'list = ros2param.verb.list:ListVerb',
'set = ros2param.verb.set:SetVerb',
'load = ros2param.verb.load:LoadVerb',
],
}
)
4 changes: 0 additions & 4 deletions ros2param/test/fixtures/parameter_node.py
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Expand Up @@ -11,7 +11,6 @@
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import sys

import rclpy
from rclpy.parameter import PARAMETER_SEPARATOR_STRING
Expand All @@ -38,9 +37,6 @@ def main(args=None):
rclpy.spin(node)
except KeyboardInterrupt:
print('parameter node stopped cleanly')
except BaseException:
print('exception in parameter node:', file=sys.stderr)
raise
finally:
node.destroy_node()
rclpy.shutdown()
Expand Down
2 changes: 1 addition & 1 deletion ros2param/test/test_verb_dump.py
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Expand Up @@ -43,7 +43,7 @@
TEST_TIMEOUT = 20.0

EXPECTED_PARAMETER_FILE = (
f'{TEST_NODE}:\n'
f'{TEST_NAMESPACE}/{TEST_NODE}:\n'
' ros__parameters:\n'
' bool_array_param:\n'
' - false\n'
Expand Down
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