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Fixed paths and expected log messages in example/README.md #138

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Fixed paths and expected log messages in example/README.md #138

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15 changes: 4 additions & 11 deletions example/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -15,14 +15,7 @@

```
source install/setup.bash
ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/examples/cpp/config/implementation.yaml

```
## Or run the Python node

```
source install/setup.bash
ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/examples/python/config/implementation.yaml
ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/example/config/implementation.yaml
```

You should see an output like this:
Expand Down Expand Up @@ -106,7 +99,7 @@ All parameter are automatically declared and callbacks are setup by default. You

You should see:

`[INFO] [1656019001.515820371] [admittance_controller]: Control frame is: 'new_frame'`
`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`

Congratulations, you updated the parameter!

Expand Down Expand Up @@ -139,15 +132,15 @@ If you try to set a value out of the specified bounds,

you will get the error

`Setting parameter failed: Invalid value '-10' for parameter 'admittance.damping_ratio'. Required bounds: [0.1, 10]`
`Setting parameter failed: Value -10.0 in parameter 'admittance.damping_ratio' must be within bounds [0.1, 10.0]`

If you try to set a vector parameter with the wrong length,

`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`

you will get the error

`Setting parameter failed: Invalid length '3' for parameter 'admittance.damping_ratio'. Required equal to: 6`
`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is 3 but must be equal to 6`

If you try to load a yaml file with missing required parameters

Expand Down
157 changes: 157 additions & 0 deletions example_python/README.md
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@@ -0,0 +1,157 @@
# Example:

## Build the node

```
mkdir colcon_ws
mkdir colcon_ws/src
cd colcon_ws/src
git clone https://github.com/picknikrobotics/generate_parameter_library.git
cd ..
colcon build
```

## Run the Python node

```
source install/setup.bash
ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/example_python/config/implementation.yaml
```

You should see an output like this:
`[INFO] [1656018676.015816509] [admittance_controller]: Initial control frame parameter is: 'ee_link'`


## ROS 2 CLI

Run the following:

`ros2 param list`

You should see:

```
/admittance_controller:
admittance.damping_ratio
admittance.mass
admittance.selected_axes
admittance.stiffness
chainable_command_interfaces
command_interfaces
control.frame.external
control.frame.id
enable_parameter_update_without_reactivation
fixed_array
fixed_string
fixed_string_no_default
fixed_world_frame.frame.external
fixed_world_frame.frame.id
ft_sensor.filter_coefficient
ft_sensor.frame.external
ft_sensor.frame.id
ft_sensor.name
gravity_compensation.CoG.force
gravity_compensation.CoG.pos
gravity_compensation.frame.external
gravity_compensation.frame.id
interpolation_mode
joints
kinematics.alpha
kinematics.base
kinematics.group_name
kinematics.plugin_name
kinematics.plugin_package
kinematics.tip
one_number
pid.elbow_joint.d
pid.elbow_joint.i
pid.elbow_joint.p
pid.rate
pid.shoulder_lift_joint.d
pid.shoulder_lift_joint.i
pid.shoulder_lift_joint.p
pid.shoulder_pan_joint.d
pid.shoulder_pan_joint.i
pid.shoulder_pan_joint.p
pid.wrist_1_joint.d
pid.wrist_1_joint.i
pid.wrist_1_joint.p
pid.wrist_2_joint.d
pid.wrist_2_joint.i
pid.wrist_2_joint.p
pid.wrist_3_joint.d
pid.wrist_3_joint.i
pid.wrist_3_joint.p
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
scientific_notation_num
state_interfaces
three_numbers
three_numbers_of_five
use_feedforward_commanded_input
use_sim_time
```

All parameter are automatically declared and callbacks are setup by default. You can set a parameter by typing:

`ros2 param set /admittance_controller control.frame.id new_frame`

You should see:

`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`

Congratulations, you updated the parameter!

If you try to set a parameter that is read only, you will get an error. Running the following

`ros2 param set /admittance_controller command_interfaces ["velocity"]`

will result in the error

`Setting parameter failed: Trying to set a read-only parameter: command_interfaces.`

Running the following

`ros2 param describe /admittance_controller admittance.damping_ratio`

will show a parameter's description

```
Parameter name: admittance.damping_ratio
Type: double array
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 ))
Constraints:
Min value: 0.1
Max value: 10.0
```

If you try to set a value out of the specified bounds,

`ros2 param set /admittance_controller admittance.damping_ratio [-10.0,-10.0,-10.0,-10.0,-10.0,-10.0]`

you will get the error

`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]`

If you try to set a vector parameter with the wrong length,

`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`

you will get the error

`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is '3' but must be equal to 6`

If you try to load a yaml file with missing required parameters

`ros2 run generate_parameter_module_example test_node --ros-args --params-file src/generate_parameter_library/example_python/config/missing_required.yaml`

you will get the error

```
Traceback (most recent call last):
[...]
rclpy.exceptions.ParameterUninitializedException: The parameter 'fixed_string_no_default' is not initialized
[ros2run]: Process exited with failure 1
```
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