Delete ros parameters from server containing strings provided as arguments

clear_rosparams.py

#!/usr/bin/env python

import rospy
from argparse import ArgumentParser

COMMON_PARAMS = ["franka", "panda", "controller", "control", "camera", "gazebo", "state", "arm", "robot", "dynamic_reconfigure", "interactive_marker", "sim_time"]

def delete_params_containing(string_list, verbose=False):
    """
    Delete ros parameters from server containing strings listed in 'string_list'.

    Args:
        string_list (list): list of strings to check for in the parameter server
        verbose (bool): set to True to print deleted parameters
    """
    try:
        params_list = rospy.get_param_names()
    except:
        print("Could not find any parameters in the parameter server!")
        return

    matching = [s for s in params_list if any(xs in s for xs in string_list)]
    if len(matching) == 0:
        print ("\n\t[INFO] No matching parameter(s) found in parameter server. Searched for %s\n"%str(string_list))
        return

    for m in matching:
        rospy.delete_param(m)
        if verbose:
            print ("\t-- Deleting %s"%m)
    print("\t[INFO]: Removed %d params from server."%len(matching))

if __name__ == "__main__":

    parser = ArgumentParser(description="Delete ros parameters from server containing strings provided as arguments. Usage: 'clear_params -d <string1> <string2> ...'")

    parser.add_argument('--delete', '-d', dest='del_list', nargs='+', default = [], help="Delete ros parameters from server containing strings provided as arguments.")
    parser.add_argument('--verbose', '-v', action='store_true', default=False)

    group = parser.add_mutually_exclusive_group()
    group.add_argument('--all','-a', action='store_true', dest='remove_all', default=False, help="Delete all params in the parameter server.")
    group.add_argument('--default','-f', action='store_true', dest='use_default', default=False, help="Delete common robot and gazebo stuff from parameter server: %s"%str(COMMON_PARAMS))

    value = parser.parse_args()

    if value.use_default:
        value.del_list += COMMON_PARAMS
    elif value.remove_all:
        ans = input("\n\t[WARN]: Using the -a argument will remove all parameters from the parameter server. Are you sure? [Y/n]")
        if ans not in ["n","N"]:
            value.del_list = [""]

    if value.del_list != []:
        delete_params_containing(value.del_list, verbose=value.verbose)
    else:
        print ("\n\t[INFO] No argument provided.\n")
        parser.print_help()