From 1fb72ab798aa3b50edf4d6ac28ad3c210ed4d843 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 23 Oct 2020 13:31:29 +0200
Subject: [PATCH] Set the python setup of the package. Added the python
functions to generate the generic parameters for the module, module service
and module action classes.
---
CMakeLists.txt | 2 +-
setup.py | 10 ++++++++++
src/iri_ros_tools/__init__.py | 0
src/iri_ros_tools/dyn_params.py | 30 ++++++++++++++++++++++++++++++
4 files changed, 41 insertions(+), 1 deletion(-)
create mode 100644 setup.py
create mode 100644 src/iri_ros_tools/__init__.py
create mode 100644 src/iri_ros_tools/dyn_params.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e2ea37a..72267f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..b40c66f
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+d = generate_distutils_setup(
+ packages=['iri_ros_tools'],
+ package_dir={'': 'src'},
+ requires=['roslib', 'rospy', 'rosservice']
+)
+setup(**d)
+
diff --git a/src/iri_ros_tools/__init__.py b/src/iri_ros_tools/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/iri_ros_tools/dyn_params.py b/src/iri_ros_tools/dyn_params.py
new file mode 100644
index 0000000..93ce21b
--- /dev/null
+++ b/src/iri_ros_tools/dyn_params.py
@@ -0,0 +1,30 @@
+# submodule config parameters
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+def add_module_service_params(gen,name):
+ new_group = gen.add_group(name)
+
+ new_group.add(name+"_num_retries",int_t, 0,"Number of times a service will be called before reporting an error",1,1,10)
+ new_group.add(name+"_enabled", bool_t,0,"Enable or disable the actual service call", True)
+
+ return new_group
+
+def add_module_action_params(gen,name):
+ new_group = gen.add_group(name)
+
+ new_group.add(name+"_num_retries", int_t, 0,"Number of times an action will be called before reporting an error",1, 1, 10)
+ new_group.add(name+"_enable_timeout", bool_t, 0,"Enable or disable the timeout feature", True)
+ new_group.add(name+"_timeout_s", double_t,0,"Maximum time in second to wait for the action to complete", 10.0, 1.0, 600.0)
+ new_group.add(name+"_enable_iwatchdog", bool_t, 0,"Enable or disable the watchdog feature", True)
+ new_group.add(name+"_feedback_watchdog_time_s",double_t,0,"Maximum time in second between two consecutive feedback topics", 2.0, 1.0, 100.0)
+ new_group.add(name+"_enabled", bool_t, 0,"Enable or disable the actual action request", True)
+
+ return new_group
+
+def add_module_params(gen,name):
+ new_group = gen.add_group(name)
+
+ new_group.add(name+"_rate_hz", double_t, 0,"Desired rate in Hz of the module",1.0,0.1,100.0)
+
+ return new_group
+
--
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