rosparam

Module rosparam

Implementation of the rosparam as well as a library for modifying the state of the ROS Parameter Server using YAML files.

Classes
	ROSParamException rosparam base exception type
	ROSParamIOException Exception for communication-based (i/o) errors.

Functions

represent_xml_binary(loader, data)
Adds a pyyaml serializer to handle xmlrpclib.Binary objects

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construct_yaml_binary(loader, node)
Overrides pyaml's constructor for binary data.

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construct_angle_radians(loader, node)
python-yaml utility for converting rad(num) into float value

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construct_angle_degrees(loader, node)
python-yaml utility for converting deg(num) into float value

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print_params(params, ns)
Print contents of param dictionary to screen

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load_file(filename, default_namespace=None, verbose=False)
Load the YAML document from the specified file

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[(dict, str)...]

load_str(str, filename, default_namespace=None, verbose=False)
Load the YAML document as a string

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get_param(param)
Download a parameter from Parameter Server

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dump_params(filename, param, verbose=False)
Download a parameter tree from the Parameter Server and store in a yaml file

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delete_param(param, verbose=False)
Delete a parameter from the Parameter Server

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set_param_raw(param, value, verbose=False)
Set param on the Parameter Server.

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set_param(param, value, verbose=False)
Set param on the ROS parameter server using a YAML value.

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upload_params(ns, values, verbose=False)
Upload params to the Parameter Server

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list_params(ns)
Get list of parameters in ns

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yamlmain(argv=None)
Command-line main routine.

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Variables
	NAME = `'rosparam'`
	NS = `'_ns'`
	pattern = `re.compile(r'^rad$[^$]*\)$')`
	__package__ = `None`

Function Details

construct_yaml_binary(loader, node)

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Overrides pyaml's constructor for binary data. Wraps binary data in xmlrpclib.Binary container instead of straight string representation.

load_file(filename, default_namespace=None, verbose=False)

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Load the YAML document from the specified file

Parameters:

filename (str) - name of filename
default_namespace (str) - namespace to load filename into

Raises:

ROSParamException - if unable to load contents of filename

load_str(str, filename, default_namespace=None, verbose=False)

source code

Load the YAML document as a string

Parameters:

filename (str) - name of filename, only used for debugging
default_namespace (str) - namespace to load filename into
str (str) - YAML text

Returns: [(dict, str)...]

list of parameter dictionary and corresponding namespaces for each YAML document in the file

get_param(param)

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Download a parameter from Parameter Server

Parameters:

param (str) - parameter name to retrieve from parameter server. If param is a parameter namespace, entire parameter subtree will be downloaded.

dump_params(filename, param, verbose=False)

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Download a parameter tree from the Parameter Server and store in a yaml file

Parameters:

filename (str) - name of file to save YAML representation
param (str) - name of parameter/namespace to dump
verbose (bool) - print verbose output for debugging

delete_param(param, verbose=False)

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Delete a parameter from the Parameter Server

Parameters:

param (str) - parameter name
verbose (bool) - print verbose output for debugging

set_param_raw(param, value, verbose=False)

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Set param on the Parameter Server. Unlike set_param(), this takes in a Python value to set instead of YAML.

Parameters:

param (str) - parameter name
value (XmlRpcLegalValue), XmlRpcLegalValue - value to upload

set_param(param, value, verbose=False)

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Set param on the ROS parameter server using a YAML value.

Parameters:

param (str) - parameter name
value (str) - yaml-encoded value

upload_params(ns, values, verbose=False)

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Upload params to the Parameter Server

Parameters:

values (dict) - key/value dictionary, where keys are parameter names and values are parameter values
ns (str) - namespace to load parameters into

list_params(ns)

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Get list of parameters in ns

Parameters:

ns (str) - namespace to match

yamlmain(argv=None)

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Command-line main routine. Loads in one or more input files

Parameters:

argv ([str]) - command-line arguments or None to use sys.argv