twizy_bringup Python API¶
Table of Contents
twizyparam¶
Enhanced YAML parsing for roslaunch
This script can be used to parse YAML-files before uploading the contents as parameters to the ROS parameter server in launch files. The following entry in a roslaunch file accomplishes this:
<rosparam subst_value="true">
$(eval exec('global load; from twizy_bringup.twizyparam import load') or load(f'{find("my_pkg")}/my_params.yaml'))
</rosparam>
This is quite the hack, but it’s atleast something before the launching system is overhauled in ROS 2
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twizy_bringup.twizyparam.load(path)[source]¶ Load/convert a YAML file
See
parse()for more information.Parameters: path (str) – Path to a YAML file Returns: A plain YAML string where the tags defined above have been expanded
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twizy_bringup.twizyparam.parse(path)[source]¶ Parse a YAML file
The following extra tags are supported:
- !eval: Evaluates a Python expression
- !include: Includes another YAML file by path
- !variable: A variable to be used in !eval expressions
Parameters: path (str) – Path to a YAML file Returns: A parsed YAML object where the tags defined above have been expanded