Class: ROS::ParameterManager

Inherits:
Object
  • Object
show all
Defined in:
lib/ros/parameter_manager.rb

Overview

ROS parameter sever inteface. API document is here ros.org/wiki/ROS/Parameter%20Server%20API

Instance Method Summary collapse

Constructor Details

#initialize(master_uri, caller_id, remappings) ⇒ ParameterManager

Returns a new instance of ParameterManager.

Parameters:

  • master_uri (String) —

    URI of ROS Master (parameter server)

  • caller_id (String) —

    caller_id of this node

  • remappings (Array) —

    remapps to use for local remappings



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# File 'lib/ros/parameter_manager.rb', line 23

def initialize(master_uri, caller_id, remappings)
  @caller_id = caller_id
  @master_uri = master_uri
  @remappings = remappings
  @server = XMLRPC::Client.new2(@master_uri)
end

Instance Method Details

#delete_param(key) ⇒ Boolean

delete parameter ‘key’

Parameters:

  • key (String) —

    key for remove

Returns:

  • (Boolean) —

    return true if success, false if it is not exist



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# File 'lib/ros/parameter_manager.rb', line 69

def delete_param(key)
  code, message, value = @server.call("deleteParam", @caller_id, key)
  case code
  when 1
    return true
  else
    return false
  end
end

#get_param(key) ⇒ String

get parameter named ‘key’

Parameters:

  • key (String) —

    name of parameter

Returns:

  • (String) —

    parameter value



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# File 'lib/ros/parameter_manager.rb', line 34

def get_param(key)
  if @remappings[key]
    return @remappings[key]
  end
  code, message, value = @server.call("getParam", @caller_id, key)
  case code
  when 1
    return value
  else
    return nil
  end
end

#get_param_names ⇒ Array

get the all keys of parameters

Returns:

  • (Array) —

    all keys



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# File 'lib/ros/parameter_manager.rb', line 115

def get_param_names
  code, message, value = @server.call("getParamNames", @caller_id)
  case code
  when 1
    return value
  when -1
    raise message
  else
    return false
  end
end

#has_param(key) ⇒ String, ...

check if the master has the key

Parameters:

  • key (String) —

    key for check

Returns:

  • (String, Integer, Float, Boolean) —

    value of key



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# File 'lib/ros/parameter_manager.rb', line 99

def has_param(key)
  code, message, value = @server.call("hasParam", @caller_id, key)
  case code
  when 1
    return value
  when -1
    raise message
  else
    return false
  end
end

#search_param(key) ⇒ Array

search the all namespace for key

Parameters:

  • key (String) —

    key for search

Returns:

  • (Array) —

    values



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# File 'lib/ros/parameter_manager.rb', line 83

def search_param(key)
  code, message, value = @server.call("searchParam", @caller_id, key)
  case code
  when 1
    return value
  when -1
    raise message
  else
    return false
  end
end

#set_param(key, value) ⇒ Boolean

set parameter for ‘key’

Parameters:

  • key (String) —

    key of parameter

  • value (String, Integer, Float, Boolean) —

    value of parameter

Returns:

  • (Boolean) —

    true if succeed

Raises:



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# File 'lib/ros/parameter_manager.rb', line 53

def set_param(key, value)
  code, message, value = @server.call("setParam", @caller_id, key, value)
  case code
  when 1
    return true
  when -1
    raise message
  else
    return false
  end
end