setparameters.py

import sys

import rclpy
from rcl_interfaces.srv import SetParameters, SetParametersAtomically
from rclpy.node import Node
from rclpy.parameter import Parameter


def main(args=None):
    if args is None:
        args = sys.argv

    rclpy.init(args=args)

    node = rclpy.create_node('parameter_setter')
    setter = node.create_client(SetParameters, '/talker/set_parameters')
    parameters_to_set = [
        Parameter('test_param.1', Parameter.Type.STRING, "hello"),
        Parameter('test_param.2', Parameter.Type.INTEGER, 42),
        Parameter('test_param.3', Parameter.Type.DOUBLE, 2.71),
    ]
    while not setter.wait_for_service(timeout_sec=1.0):
        print("Waiting for service...")
    request = SetParameters.Request()
    request.parameters = [p.get_rcl_parameter() for p in parameters_to_set]
    response_f = setter.call_async(request)
    rclpy.spin_until_future_complete(node, response_f)
    if response_f.result() is not None:
        print(repr(response_f.result()))
    else:
        sys.exit(1)

    atomic_setter = node.create_client(SetParametersAtomically, '/talker/set_parameters_atomically')
    parameters_to_set_atomically = [
        Parameter('test_param.1', Parameter.Type.STRING, "goodbye"),
        Parameter('test_param.2', Parameter.Type.NOT_SET, None),
        Parameter('test_param.4', Parameter.Type.DOUBLE, 2.41),
    ]
    while not atomic_setter.wait_for_service(timeout_sec=1.0):
        print("Waiting for atomic service...")
    request = SetParametersAtomically.Request()
    request.parameters = [p.get_rcl_parameter() for p in parameters_to_set_atomically]
    response_f = atomic_setter.call_async(request)
    rclpy.spin_until_future_complete(node, response_f)
    if response_f.result() is not None:
        print(repr(response_f.result()))
    else:
        sys.exit(1)

    node.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()