ROS Parameters

Throughout this project, we make use of the ROS parameter server, which makes variables accessible to all nodes running on the same roscore. A list of parameters can be retrieved at any time with

$ rosparam list

A parameter can be set by

rospy.set_param("parameter_name", value)

or retrieved with

rospy.get_param("parameter_name")

This rest of this page gives details on the parameters used in Project Fezzik. These are initialised in brain/scripts/initialise_parameters.py

# Parameters used
"limb_to_move" # String, which arm to move, "right" or "left"
"grabbed_object" # Bool, has DE NIRO grabbed an object or not
"requested_object" # String, which object has been requested, "water", "juice" or "coffee"
"receive_instruction" # Bool, has an instruction been received or not (only used with visual object cards - not speech recognition)
"remembered_face" # Bool, has a face been remembered or not
"remembered_name" # String, which face has been remembered, "Fabian", "John", "Sagar", "Nico", "Kim"
"remember_now" # Bool, trigger to remember a face
"left_arm_neutral" # Dictionary, joint positions of left arm in the neutral position
"right_arm_neutral" # Dictionary, joint positions of right arm in the neutral position

# Initial values
"limb_to_move", "right"
"grabbed_object", False
"requested_object", ""
"receive_instruction", False
"remembered_face", False
"remember_now", False
"remembered_name", ""

left_arm_neutral = {'left_w0': 0.5982525072753113, 'left_w1': 0.6688156235180404,
'left_w2': -0.49931074645670215, 'left_e0': -1.5159565136277602, 'left_e1': 2.1663643676911755,
'left_s0': 0.6864564025787226, 'left_s1': -1.0339030510347689}

right_arm_neutral = {'right_s0': -0.4866554049566475, 'right_s1': -1.1792477306869118,
'right_w0': -0.016106798272796843, 'right_w1': 0.7125340759727747, 'right_w2': -0.4387185053352283,
'right_e0': 1.2459758949599273, 'right_e1': 2.12801484799404}