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‎example/CHANGELOG.rst

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Changelog for package generate_parameter_library_example
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.3.7 (2024-01-12)
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------------------
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* Split example/README.md into C++ and Python version; updated content (`#138 <https://github.com/PickNikRobotics/generate_parameter_library/issues/138>`_)
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* Contributors: chriseichmann
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0.3.6 (2023-07-31)
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------------------
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‎example/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>generate_parameter_library_example</name>
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<version>0.3.6</version>
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<version>0.3.7</version>
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<description>Example usage of generate_parameter_library.</description>
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<maintainer email="paul.gesel@picknik.ai">Paul Gesel</maintainer>
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<license>BSD-3-Clause</license>

‎example_cmake_python/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package cmake_generate_parameter_module_example
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.3.7 (2024-01-12)
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------------------
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* Enable generate_parameter_module through ament_cmake_python (`#161 <https://github.com/PickNikRobotics/generate_parameter_library/issues/161>`_)
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* Contributors: Paul Gesel

‎example_cmake_python/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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project(cmake_generate_parameter_module_example)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(generate_parameter_library REQUIRED)
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generate_parameter_module(admittance_parameters
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cmake_generate_parameter_module_example/parameters.yaml
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cmake_generate_parameter_module_example.custom_validation
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)
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ament_python_install_package(${PROJECT_NAME})
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ament_package()

‎example_cmake_python/README.md

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# Example:
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## Build the node
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```
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mkdir -p colcon_ws/src
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cd colcon_ws/src
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git clone https://github.com/picknikrobotics/generate_parameter_library.git
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cd ..
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colcon build
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```
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## Run the Python node
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```
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source install/setup.bash
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python3 src/generate_parameter_library/example_cmake_python/cmake_generate_parameter_module_example/minimal_publisher.py --ros-args --params-file src/generate_parameter_library/example_python/config/implementation.yaml
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```
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You should see an output like this:
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`[INFO] [1656018676.015816509] [admittance_controller]: Initial control frame parameter is: 'ee_link'`
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## ROS 2 CLI
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Run the following:
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`ros2 param list`
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You should see:
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```
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/admittance_controller:
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admittance.damping_ratio
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admittance.mass
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admittance.selected_axes
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admittance.stiffness
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chainable_command_interfaces
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command_interfaces
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control.frame.external
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control.frame.id
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enable_parameter_update_without_reactivation
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fixed_array
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fixed_string
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fixed_string_no_default
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fixed_world_frame.frame.external
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fixed_world_frame.frame.id
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ft_sensor.filter_coefficient
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ft_sensor.frame.external
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ft_sensor.frame.id
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ft_sensor.name
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gravity_compensation.CoG.force
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gravity_compensation.CoG.pos
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gravity_compensation.frame.external
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gravity_compensation.frame.id
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interpolation_mode
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joints
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kinematics.alpha
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kinematics.base
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kinematics.group_name
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kinematics.plugin_name
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kinematics.plugin_package
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kinematics.tip
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one_number
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pid.elbow_joint.d
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pid.elbow_joint.i
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pid.elbow_joint.p
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pid.rate
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pid.shoulder_lift_joint.d
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pid.shoulder_lift_joint.i
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pid.shoulder_lift_joint.p
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pid.shoulder_pan_joint.d
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pid.shoulder_pan_joint.i
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pid.shoulder_pan_joint.p
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pid.wrist_1_joint.d
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pid.wrist_1_joint.i
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pid.wrist_1_joint.p
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pid.wrist_2_joint.d
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pid.wrist_2_joint.i
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pid.wrist_2_joint.p
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pid.wrist_3_joint.d
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pid.wrist_3_joint.i
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pid.wrist_3_joint.p
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qos_overrides./parameter_events.publisher.depth
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qos_overrides./parameter_events.publisher.durability
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qos_overrides./parameter_events.publisher.history
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qos_overrides./parameter_events.publisher.reliability
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scientific_notation_num
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state_interfaces
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three_numbers
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three_numbers_of_five
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use_feedforward_commanded_input
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use_sim_time
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```
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All parameter are automatically declared and callbacks are setup by default. You can set a parameter by typing:
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`ros2 param set /admittance_controller control.frame.id new_frame`
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You should see:
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`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`
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Congratulations, you updated the parameter!
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If you try to set a parameter that is read only, you will get an error. Running the following
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`ros2 param set /admittance_controller command_interfaces ["velocity"]`
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will result in the error
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`Setting parameter failed: Trying to set a read-only parameter: command_interfaces.`
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Running the following
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`ros2 param describe /admittance_controller admittance.damping_ratio`
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will show a parameter's description
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```
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Parameter name: admittance.damping_ratio
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Type: double array
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Description: specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation. The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))
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Constraints:
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Min value: 0.1
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Max value: 10.0
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```
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If you try to set a value out of the specified bounds,
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`ros2 param set /admittance_controller admittance.damping_ratio [-10.0,-10.0,-10.0,-10.0,-10.0,-10.0]`
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you will get the error
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`Setting parameter failed: Value array('d', [-10.0, -10.0, -10.0, -10.0, -10.0, -10.0]) in parameter 'admittance.damping_ratio' must be within bounds [0.1, 10.0]`
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If you try to set a vector parameter with the wrong length,
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`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`
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you will get the error
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`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is '3' but must be equal to 6`
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If you try to load a yaml file with missing required parameters
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`python3 src/generate_parameter_library/example_cmake_python/cmake_generate_parameter_module_example/minimal_publisher.py --ros-args --params-file src/generate_parameter_library/example_python/config/missing_required.yaml`
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you will get the error
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```
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Traceback (most recent call last):
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[...]
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rclpy.exceptions.ParameterUninitializedException: The parameter 'fixed_string_no_default' is not initialized
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[ros2run]: Process exited with failure 1
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```

‎example_cmake_python/cmake_generate_parameter_module_example/__init__.py

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‎example_cmake_python/cmake_generate_parameter_module_example/custom_validation.py

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# -*- coding: utf-8 -*-
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# Copyright 2023 PickNik Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the PickNik Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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def no_args_validator(param):
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return ''
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def validate_double_array_custom_func(param, arg1, arg2):
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return ''

‎example_cmake_python/cmake_generate_parameter_module_example/minimal_publisher.py

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# -*- coding: utf-8 -*-
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# Copyright 2023 PickNik Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the PickNik Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import rclpy
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import rclpy.node
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from cmake_generate_parameter_module_example.admittance_parameters import (
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admittance_controller,
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)
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class MinimalParam(rclpy.node.Node):
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def __init__(self):
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super().__init__('admittance_controller')
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self.timer = self.create_timer(1, self.timer_callback)
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self.param_listener = admittance_controller.ParamListener(self)
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self.params = self.param_listener.get_params()
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self.get_logger().info(
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"Initial control frame parameter is: '%s'" % self.params.control.frame.id
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)
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self.get_logger().info("fixed string is: '%s'" % self.params.fixed_string)
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self.get_logger().info(
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"Original joints parameter is: '%s'" % str(self.params.joints)
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)
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for d in self.params.fixed_array:
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self.get_logger().info("value: '%s'" % str(d))
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def timer_callback(self):
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if self.param_listener.is_old(self.params):
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self.param_listener.refresh_dynamic_parameters()
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self.params = self.param_listener.get_params()
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self.get_logger().info(
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"New control frame parameter is: '%s'" % self.params.control.frame.id
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)
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self.get_logger().info("fixed string is: '%s'" % self.params.fixed_string)
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for d in self.params.fixed_array:
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self.get_logger().info("value: '%s'" % str(d))
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def main(args=None):
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rclpy.init(args=args)
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node = MinimalParam()
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rclpy.spin(node)
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if __name__ == '__main__':
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main()

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