readd get_param

crazyflie_py/crazyflie_py/crazyflie.py

@@ -484,26 +484,37 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0):
  # '/world', '/cf' + str(self.id), rospy.Time(0))
  # return np.array(position)
 
- # def getParam(self, name):
- # """Returns the current value of the onboard named parameter.
+ def getParam(self, name):
+ """
+ Get the current value of the onboard named parameter.
 
- #  Parameters are named values of various primitive C types that control
- #  the firmware's behavior. For more information, see
- #  https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/logparam/.
+ Parameters are named values of various primitive C types that control
+ the firmware's behavior. For more information, see
+ https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/logparam/.
 
- #  Parameters are read at system startup over the radio and cached.
- #  The ROS launch file can also be used to set parameter values at startup.
- #  Subsequent calls to :meth:`setParam()` will update the cached value.
- #  However, if the parameter changes for any other reason, the cached value
- #  might become stale. This situation is not common.
+ Parameters are read at system startup over the radio and cached.
+ The ROS launch file can also be used to set parameter values at startup.
+ Subsequent calls to :meth:`setParam()` will update the cached value.
+ However, if the parameter changes for any other reason, the cached value
+ might become stale. This situation is not common.
 
- #  Args:
- #  name (str): The parameter's name.
+ Args:
+ name (str): The parameter's name.
 
- # Returns:
- # value (Any): The parameter's value.
- # """
- # return rospy.get_param(self.prefix + '/' + name)
+ Returns:
+ value (Any): The parameter's value.
+ """
+ param_name = self.prefix[1:] + '.params.' + name
+ req = GetParameters.Request()
+ req.names = [param_name]
+ future = self.getParamsService.call_async(req)
+ rclpy.spin_until_future_complete(self.node, future)
+ param_type = self.paramTypeDict[name]
+ if param_type == ParameterType.PARAMETER_INTEGER:
+ param_value = future.result().values[0].integer_value
+ elif param_type == ParameterType.PARAMETER_DOUBLE:
+ param_value = future.result().values[0].double_value
+ return param_value
 
  def setParam(self, name, value):
  """