latest pushes

ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py

@@ -1,10 +1,6 @@
 import os
 import sys
 import subprocess
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
 
 
 def ros1_launch_description():

ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="x1"/>
+    <arg name="y1"/>
+    <arg name="x2"/>
+    <arg name="y2"/>
+    <arg name="limit"/>
+
+    <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" name="bellande_step_api_2d_node" output="screen">
+        <param name="x1" value="$(arg x1)"/>
+        <param name="y1" value="$(arg y1)"/>
+        <param name="x2" value="$(arg x2)"/>
+        <param name="y2" value="$(arg y2)"/>
+        <param name="limit" value="$(arg limit)"/>
+    </node>
+</launch>

ros_web_api_bellande_step/src/bellande_step_api_2d.py

@@ -1,7 +1,6 @@
 import json
 import os
 import requests
-import sys
 
 def main():
     # Get the absolute path to the config file
@@ -18,25 +17,13 @@ def main():
         url = config['url']
         endpoint_path = config['endpoint_path']
     
-    # Get the parameters from the launch file
-    x1_str = os.getenv('x1')
-    y1_str = os.getenv('y1')
-    x2_str = os.getenv('x2')
-    y2_str = os.getenv('y2')
-    limit_str = os.getenv('limit')
+    # Get the parameters from the ROS parameter server
+    x1 = rospy.get_param('x1')
+    y1 = rospy.get_param('y1')
+    x2 = rospy.get_param('x2')
+    y2 = rospy.get_param('y2')
+    limit = rospy.get_param('limit')
 
-    # Check if any of the environment variables are not set
-    if any(v is None for v in [x1_str, y1_str, x2_str, y2_str, limit_str]):
-        print("One or more required environment variables are not set.")
-        return
-
-    # Convert the parameters to float or int
-    x1 = float(x1_str)
-    y1 = float(y1_str)
-    x2 = float(x2_str)
-    y2 = float(y2_str)
-    limit = int(limit_str)
-    
     # JSON payload
     payload = {
         "node0": {"x": x1, "y": y1},
@@ -64,4 +51,10 @@ def main():
         print("Error:", e)
 
 if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        rclpy
+
     main()