Merge pull request #1418 from wkentaro/enhance-data-collection-server

Enhance data_collection_server regarding of response, params, and sample

jsk_data/CMakeLists.txt

@@ -1,14 +1,20 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_data)
-find_package(catkin REQUIRED)
-catkin_package(
-)
+find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure message_generation)
 
 catkin_python_setup()
-catkin_install_python(PROGRAMS scripts/jsk_data DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+generate_dynamic_reconfigure_options(
+  cfg/DataCollectionServer.cfg
+)
 
 catkin_add_env_hooks(99.jsk_data-completion SHELLS bash DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+)
+
+catkin_install_python(PROGRAMS scripts/jsk_data DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY launch rvizconfig scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS

jsk_data/cfg/DataCollectionServer.cfg

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import sys
+
+from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator
+from dynamic_reconfigure.parameter_generator_catkin import str_t
+
+
+gen = ParameterGenerator()
+gen.add(
+    name='save_dir',
+    paramtype=str_t,
+    level=0,
+    description='Directory the collected data is saved to',
+    default='~/.ros',
+)
+
+
+PACKAGE = 'jsk_data'
+sys.exit(gen.generate(PACKAGE, PACKAGE, 'DataCollectionServer'))

jsk_data/node_scripts/data_collection_server.py

@@ -11,11 +11,14 @@
 import cv2
 
 import cv_bridge
+import dynamic_reconfigure.server
 import roslib.message
 import rospy
 from std_srvs.srv import Trigger
 from std_srvs.srv import TriggerResponse
 
+from jsk_data.cfg import DataCollectionServerConfig
+
 
 class DataCollectionServer(object):
 
@@ -40,12 +43,11 @@ class DataCollectionServer(object):
     """
 
     def __init__(self):
+        dynamic_reconfigure.server.Server(
+            DataCollectionServerConfig, self.reconfig_cb)
         self.msg = {}
-        self.save_dir = osp.expanduser(rospy.get_param('~save_dir', '~/.ros'))
-        if not osp.exists(self.save_dir):
-            os.makedirs(self.save_dir)
-        self.topics = rospy.get_param('~topics')
-        self.params = rospy.get_param('~params')
+        self.topics = rospy.get_param('~topics', [])
+        self.params = rospy.get_param('~params', [])
         self.server = rospy.Service('~save_request', Trigger, self.service_cb)
         self.subs = []
         for topic in self.topics:
@@ -54,6 +56,12 @@ def __init__(self):
                                    callback_args=topic['name'])
             self.subs.append(sub)
 
+    def reconfig_cb(self, config, level):
+        self.save_dir = osp.expanduser(config['save_dir'])
+        if not osp.exists(self.save_dir):
+            os.makedirs(self.save_dir)
+        return config
+
     def __del__(self):
         for sub in self.subs:
             sub.unregister()
@@ -91,8 +99,9 @@ def service_cb(self, req):
                     f.write(str(value))
             else:
                 raise ValueError
-        rospy.loginfo('Saved data to {}'.format(save_dir))
-        return TriggerResponse(success=True)
+        message = 'Saved data to {}'.format(save_dir)
+        rospy.loginfo(message)
+        return TriggerResponse(success=True, message=message)
 
 
 if __name__ == '__main__':

jsk_data/package.xml

@@ -7,9 +7,12 @@
   <maintainer email="[email protected]">Ryohei Ueda</maintainer>
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>message_generation</build_depend>
   <run_depend>depth_image_proc</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>jsk_topic_tools</run_depend>
+  <run_depend>message_runtime</run_depend>
   <run_depend>paramiko</run_depend>
   <run_depend>python-click</run_depend>
   <test_depend>python-freezegun-pip</test_depend>