From 09e45fc8176095719e6818db2b04b5dcc151cab7 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 24 Apr 2018 10:01:22 +0200
Subject: [PATCH] Updated Parameter Service to work with new namespace
conventions
---
.../src/d_fall_pps/include/ParameterService.h | 2 +-
.../src/d_fall_pps/src/ParameterService.cpp | 29 ++++++++++++-------
2 files changed, 19 insertions(+), 12 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/include/ParameterService.h b/pps_ws/src/d_fall_pps/include/ParameterService.h
index e17c7e5e..087c1850 100644
--- a/pps_ws/src/d_fall_pps/include/ParameterService.h
+++ b/pps_ws/src/d_fall_pps/include/ParameterService.h
@@ -107,7 +107,7 @@ std::string my_agentID = "000";
ros::Publisher controllerYamlReadyForFetchPublihser;
-std::string m_ros_namespace;
+std::string m_base_namespace;
ros::Subscriber requestLoadControllerYamlSubscriber_agent_to_self;
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index 47d06a9e..80a86239 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -98,22 +98,22 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
if ( (controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
{
// Re-load the parameters of the safe controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_ros_namespace + "/SafeController";
+ cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_base_namespace + "/SafeController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
{
// Re-load the parameters of the safe controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_ros_namespace + "/SafeController";
+ cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_base_namespace + "/SafeController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
{
// Re-load the parameters of the demo controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_ros_namespace + "/DemoController";
+ cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_base_namespace + "/DemoController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
{
// Re-load the parameters of the demo controller:
- cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_ros_namespace + "/DemoController";
+ cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_base_namespace + "/DemoController";
}
else
{
@@ -200,6 +200,11 @@ int main(int argc, char* argv[])
// the "~" indcates that "self" is the node handle assigned to this variable.
ros::NodeHandle nodeHandle("~");
+ // Get the namespace of this "ParameterService" node
+ std::string m_namespace = ros::this_node::getNamespace();
+ ROS_INFO_STREAM("For ParameterService, ros::this_node::getNamespace() = " << m_namespace);
+
+
// Get the value of the "type" parameter into a local string variable
std::string type_string;
@@ -222,7 +227,7 @@ int main(int argc, char* argv[])
{
// Set "my_type" to the value indicating that it is invlid
my_type = TYPE_INVALID;
- ROS_ERROR("The retrieve type parameter was no recognised.");
+ ROS_ERROR("The 'type' parameter retrieved was not recognised.");
}
@@ -244,9 +249,10 @@ int main(int argc, char* argv[])
{
case TYPE_AGENT:
{
- //m_ros_namespace = ros::this_node::getNamespace();
- m_ros_namespace = "/agent" + my_agentID + '/' + "ParameterService";
- ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
+ //m_base_namespace = ros::this_node::getNamespace();
+ //m_base_namespace = "/agent" + my_agentID + '/' + "ParameterService";
+ m_base_namespace = m_namespace + '/' + "ParameterService";
+ ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_base_namespace);
break;
}
@@ -254,9 +260,10 @@ int main(int argc, char* argv[])
// > The master GUI
case TYPE_COORDINATOR:
{
- //m_ros_namespace = ros::this_node::getNamespace();
- m_ros_namespace = "/ParameterService";
- ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
+ //m_base_namespace = ros::this_node::getNamespace();
+ //m_base_namespace = "/ParameterService";
+ m_base_namespace = m_namespace + '/' + "ParameterService";
+ ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_base_namespace);
break;
}
--
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