added file

wild_visual_navigation_ros/src/wild_visual_navigation_ros/reload_rosparams.py

@@ -0,0 +1,26 @@
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Matias Mattamala, Jonas Frey.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
+#                                                                               
+# Copyright (c) 2022-2024, ETH Zurich, Matias Mattamala, Jonas Frey.
+# All rights reserved. Licensed under the MIT license.
+# See LICENSE file in the project root for details.
+#                                                                               
+import rospkg
+import rospy
+import os
+
+def reload_rosparams(enabled, node_name, camera_cfg):
+    if enabled:
+        try:
+            rospy.delete_param(node_name)
+        except:
+            pass
+
+        rospack = rospkg.RosPack()
+        wvn_path = rospack.get_path("wild_visual_navigation_ros")
+        os.system(f"rosparam load {wvn_path}/config/wild_visual_navigation/default.yaml {node_name}")
+        wvn_anymal = rospack.get_path("wild_visual_navigation_anymal")
+        os.system(f"rosparam load {wvn_anymal}/config/wild_visual_navigation/inputs/{camera_cfg}.yaml {node_name}")