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Merged
pac48 merged 3 commits into from
Jun 5, 2025
Merged

feat: Add user callback python #254

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0a78750
feat: Add user callback python (#3)
YannickdeHoop Apr 1, 2025
2574b4a
resolve comments
Jun 3, 2025
0cddf5c
run pre-commit hook
Jun 5, 2025
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10 changes: 10 additions & 0 deletions example_cmake_python/cmake_generate_parameter_module_example/minimal_publisher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ def __init__(self):

self.param_listener = admittance_controller.ParamListener(self)
self.params = self.param_listener.get_params()
self.param_listener.set_user_callback(self.reconfigure_callback)
self.get_logger().info(
"Initial control frame parameter is: '%s'" % self.params.control.frame.id
)
Expand All @@ -64,6 +65,15 @@ def timer_callback(self):
for d in self.params.fixed_array:
self.get_logger().info("value: '%s'" % str(d))

def reconfigure_callback(self, parameters):
self.get_logger().info('Reconfigure callback fired!')
self.get_logger().info(
"New control frame parameter is: '%s'" % parameters.control.frame.id
)
self.get_logger().info("fixed string is: '%s'" % parameters.fixed_string)
for d in parameters.fixed_array:
self.get_logger().info("value: '%s'" % str(d))


def main(args=None):
rclpy.init(args=args)
Expand Down
9 changes: 9 additions & 0 deletions ..._library_py/generate_parameter_library_py/jinja_templates/python/parameter_library_header
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ stamp_ = Time()
self.declare_params()

self.node_.add_on_set_parameters_callback(self.update)
self.user_callback = None
self.clock_ = Clock()

def get_params(self):
Expand Down Expand Up @@ -79,6 +80,12 @@ stamp_ = Time()
params_to_set = self.unpack_parameter_dict('', param_dict)
self.update(params_to_set)

def set_user_callback(self, callback):
self.user_callback = callback

def clear_user_callback(self):
self.user_callback = None

def refresh_dynamic_parameters(self):
updated_params = self.get_params()
# TODO remove any destroyed dynamic parameters
Expand Down Expand Up @@ -109,6 +116,8 @@ for param in parameters:

updated_params.stamp_ = self.clock_.now()
self.update_internal_params(updated_params)
if self.user_callback:
self.user_callback(self.get_params())
return SetParametersResult(successful=True)

def update_internal_params(self, updated_params):
Expand Down
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