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InvincibleRMCInvincibleRMC
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3 files changed

+8
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‎mqtt_ros_bridge/bridge_node.py

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -6,12 +6,13 @@
66
import rclpy
77
from rclpy._rclpy_pybind11 import RMWError
88
from rclpy.node import Node
9+
from rclpy.parameter import Parameter, parameter_dict_from_yaml_file
910
from rclpy.publisher import Publisher
1011

1112
from mqtt_ros_bridge.msg_typing import MsgLikeT
1213
from mqtt_ros_bridge.serializer import (JSONSerializer, ROSDefaultSerializer,
1314
Serializer)
14-
from mqtt_ros_bridge.util import lookup_message, parameter_dict_from_yaml_file
15+
from mqtt_ros_bridge.util import lookup_message
1516

1617

1718
class TopicInfoMsg(Generic[MsgLikeT]):
@@ -88,7 +89,11 @@ def topic_info_from_parameters(self, config: str) -> dict[str, TopicInfoMsg]:
8889
config = os.path.expanduser(config)
8990
topic_infos: dict[str, TopicInfoMsg] = {}
9091

91-
params = parameter_dict_from_yaml_file(config)
92+
params: dict[str, Parameter] = {}
93+
dictionary = parameter_dict_from_yaml_file(config)
94+
95+
for key, parameter_msg in dictionary.items():
96+
params[key] = Parameter.from_parameter_msg(parameter_msg)
9297

9398
unique_names: set[str] = set()
9499
for names in params.keys():

‎mqtt_ros_bridge/util.py

Lines changed: 1 addition & 171 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,5 @@
11
from importlib import import_module
2-
from typing import Optional, cast
3-
4-
import yaml
5-
from rcl_interfaces.msg import Parameter as ParameterMsg
6-
from rcl_interfaces.msg import ParameterType, ParameterValue
7-
from rclpy.parameter import PARAMETER_SEPARATOR_STRING, Parameter
2+
from typing import cast
83

94
from mqtt_ros_bridge.msg_typing import MsgLike
105

@@ -20,168 +15,3 @@ def _lookup_object(object_path: str, package: str = 'mqtt_ros_bridge') -> object
2015
module = import_module(module_name, package)
2116
obj = getattr(module, obj_name)
2217
return obj
23-
24-
25-
# Kind of exist in ros-iron??? very confusing
26-
def get_parameter_value(string_value: str) -> ParameterValue:
27-
"""
28-
Guess the desired type of the parameter based on the string value.
29-
30-
:param string_value: The string value to be converted to a ParameterValue.
31-
:return: The ParameterValue.
32-
"""
33-
value = ParameterValue()
34-
try:
35-
yaml_value = yaml.safe_load(string_value)
36-
except yaml.parser.ParserError:
37-
yaml_value = string_value
38-
39-
if isinstance(yaml_value, bool):
40-
value.type = ParameterType.PARAMETER_BOOL
41-
value.bool_value = yaml_value
42-
elif isinstance(yaml_value, int):
43-
value.type = ParameterType.PARAMETER_INTEGER
44-
value.integer_value = yaml_value
45-
elif isinstance(yaml_value, float):
46-
value.type = ParameterType.PARAMETER_DOUBLE
47-
value.double_value = yaml_value
48-
elif isinstance(yaml_value, list):
49-
if all((isinstance(v, bool) for v in yaml_value)):
50-
value.type = ParameterType.PARAMETER_BOOL_ARRAY
51-
value.bool_array_value = yaml_value
52-
elif all((isinstance(v, int) for v in yaml_value)):
53-
value.type = ParameterType.PARAMETER_INTEGER_ARRAY
54-
value.integer_array_value = yaml_value
55-
elif all((isinstance(v, float) for v in yaml_value)):
56-
value.type = ParameterType.PARAMETER_DOUBLE_ARRAY
57-
value.double_array_value = yaml_value
58-
elif all((isinstance(v, str) for v in yaml_value)):
59-
value.type = ParameterType.PARAMETER_STRING_ARRAY
60-
value.string_array_value = yaml_value
61-
else:
62-
value.type = ParameterType.PARAMETER_STRING
63-
value.string_value = string_value
64-
else:
65-
value.type = ParameterType.PARAMETER_STRING
66-
value.string_value = yaml_value if yaml_value is not None else string_value
67-
return value
68-
69-
70-
def parameter_value_to_python(parameter_value: ParameterValue):
71-
"""
72-
Get the value for the Python builtin type from a rcl_interfaces/msg/ParameterValue object.
73-
74-
Returns the value member of the message based on the ``type`` member.
75-
Returns ``None`` if the parameter is "NOT_SET".
76-
77-
:param parameter_value: The message to get the value from.
78-
:raises RuntimeError: if the member ``type`` has an unexpected value.
79-
"""
80-
if parameter_value.type == ParameterType.PARAMETER_BOOL:
81-
value = parameter_value.bool_value
82-
elif parameter_value.type == ParameterType.PARAMETER_INTEGER:
83-
value = parameter_value.integer_value
84-
elif parameter_value.type == ParameterType.PARAMETER_DOUBLE:
85-
value = parameter_value.double_value
86-
elif parameter_value.type == ParameterType.PARAMETER_STRING:
87-
value = parameter_value.string_value
88-
elif parameter_value.type == ParameterType.PARAMETER_BYTE_ARRAY:
89-
value = list(parameter_value.byte_array_value)
90-
elif parameter_value.type == ParameterType.PARAMETER_BOOL_ARRAY:
91-
value = list(parameter_value.bool_array_value)
92-
elif parameter_value.type == ParameterType.PARAMETER_INTEGER_ARRAY:
93-
value = list(parameter_value.integer_array_value)
94-
elif parameter_value.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
95-
value = list(parameter_value.double_array_value)
96-
elif parameter_value.type == ParameterType.PARAMETER_STRING_ARRAY:
97-
value = list(parameter_value.string_array_value)
98-
elif parameter_value.type == ParameterType.PARAMETER_NOT_SET:
99-
value = None
100-
else:
101-
raise RuntimeError(f'unexpected parameter type {parameter_value.type}')
102-
103-
return value
104-
105-
106-
def parameter_dict_from_yaml_file(
107-
parameter_file: str,
108-
use_wildcard: bool = False,
109-
target_nodes: Optional[list[str]] = None,
110-
namespace: str = ''
111-
) -> dict[str, Parameter]:
112-
"""
113-
Build a dict of parameters from a YAML file.
114-
115-
Will load all parameters if ``target_nodes`` is None or empty.
116-
117-
:raises RuntimeError: if a target node is not in the file
118-
:raises RuntimeError: if the is not a valid ROS parameter file
119-
120-
:param parameter_file: Path to the YAML file to load parameters from.
121-
:param use_wildcard: Use wildcard matching for the target nodes.
122-
:param target_nodes: list of nodes in the YAML file to load parameters from.
123-
:param namespace: Namespace to prepend to all parameters.
124-
:return: A dict of Parameter messages keyed by the parameter names
125-
"""
126-
with open(parameter_file, 'r') as f:
127-
param_file = yaml.safe_load(f)
128-
param_keys = []
129-
param_dict = {}
130-
131-
if use_wildcard and '/**' in param_file:
132-
param_keys.append('/**')
133-
134-
if target_nodes:
135-
for n in target_nodes:
136-
if n not in param_file.keys():
137-
raise RuntimeError(f'Param file does not contain parameters for {n},'
138-
f'only for nodes: {list(param_file.keys())} ')
139-
param_keys.append(n)
140-
else:
141-
# wildcard key must go to the front of param_keys so that
142-
# node-namespaced parameters will override the wildcard parameters
143-
keys = set(param_file.keys())
144-
keys.discard('/**')
145-
param_keys.extend(keys)
146-
147-
if len(param_keys) == 0:
148-
raise RuntimeError('Param file does not contain selected parameters')
149-
150-
for n in param_keys:
151-
value = param_file[n]
152-
if not isinstance(value, dict) or 'ros__parameters' not in value:
153-
raise RuntimeError(f'YAML file is not a valid ROS parameter file for node {n}')
154-
param_dict.update(value['ros__parameters'])
155-
# Modification done here
156-
new_dictionary: dict[str, Parameter] = {}
157-
dictionary = _unpack_parameter_dict(namespace, param_dict)
158-
159-
for key, parameter_msg in dictionary.items():
160-
new_dictionary[key] = Parameter.from_parameter_msg(parameter_msg)
161-
return new_dictionary
162-
163-
164-
def _unpack_parameter_dict(namespace: str,
165-
parameter_dict: dict[str, ParameterMsg]
166-
) -> dict[str, ParameterMsg]:
167-
"""
168-
Flatten a parameter dictionary recursively.
169-
170-
:param namespace: The namespace to prepend to the parameter names.
171-
:param parameter_dict: A dictionary of parameters keyed by the parameter names
172-
:return: A dict of Parameter objects keyed by the parameter names
173-
"""
174-
parameters: dict[str, ParameterMsg] = {}
175-
for param_name, param_value in parameter_dict.items():
176-
full_param_name = namespace + param_name
177-
# Unroll nested parameters
178-
if isinstance(param_value, dict):
179-
parameters.update(_unpack_parameter_dict(
180-
namespace=full_param_name + PARAMETER_SEPARATOR_STRING,
181-
parameter_dict=param_value))
182-
else:
183-
parameter = ParameterMsg()
184-
parameter.name = full_param_name
185-
parameter.value = get_parameter_value(str(param_value))
186-
parameters[full_param_name] = parameter
187-
return parameters

‎package.xml

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,6 @@
1010

1111
<depend>rclpy</depend>
1212
<depend>python3-paho-mqtt</depend>
13-
<depend>python3-yaml</depend>
1413

1514
<exec_depend>ros2launch</exec_depend>
1615
<exec_depend>std_msgs</exec_depend>

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