change_ronex_configuration.py

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#!/usr/bin/env python

# ####################################################################
# Copyright (c) 2013, Shadow Robot Company, All rights reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 3.0 of the License, or (at your option) any later version.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library.
# ####################################################################

import roslib
import rospy
import dynamic_reconfigure.client

from time import sleep
roslib.load_manifest('sr_ronex_examples')

# --------------------------------------------------------------------------------

"""
This class demonstrate how to change the configuration parameters of a running ronex module.
"""


class ChangeRonexConfigurationExample(object):

    def __init__(self):
        # Define the ronex id of the module to be configured
        ronex_id = "test_ronex"
        ronex_path = "/ronex/general_io/" + ronex_id + "/"
        self.configure_ronex(ronex_path)

    def configure_ronex(self, path):
        """
        In this example we are using the dynamic_reconfigure.client.
        It could also be done by calling the /ronex/general_io/X/set_parameters service directly (as in the c++ example)
        """
        client = dynamic_reconfigure.client.Client(path)

        # calling update_configuration with a dictionary of changes to make
        params = {'input_mode_0': False, 'input_mode_1': False, 'pwm_period_0': 200, 'pwm_clock_divider': 3000}
        config = client.update_configuration(params)

        # config now contains the full configuration of the node after the parameter update


# --------------------------------------------------------------------------------

if __name__ == "__main__":
    rospy.init_node("change_ronex_configuration_py")
    ChangeRonexConfigurationExample()

# --------------------------------------------------------------------------------