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1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2010, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 34 """ 35 Dumps parameters from ROSLaunch files to stdout as YAML. 36 """ 37 38 import sys 39 40 import roslaunch.config 41 import roslaunch.xmlloader 42 43 import yaml 4446 """ 47 Dumps ROS parameters of a list of files to STDOUT in YAML 48 49 @param files: List of ROSLaunch files to load 50 @type files: [ str ] 51 @return: True if loaded parameters successfully 52 @rtype: bool 53 """ 54 config = roslaunch.config.ROSLaunchConfig() 55 loader = roslaunch.xmlloader.XmlLoader() 56 57 for f in files: 58 try: 59 loader.load(f, config, verbose = False) 60 except Exception as e: 61 sys.stderr.write("Unable to load file %s: %s" % (f, e)) 62 return False 63 64 # Now print params in YAML format. 65 params_dict = {} 66 for k, v in config.params.iteritems(): 67 params_dict[str(k)] = v.value 68 sys.stdout.write(yaml.safe_dump(params_dict)+'\n') 69 return True70
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