#! /usr/bin/env python
import rospy
import socket, fcntl, struct
def get_ip_address(ifname):
"""
Get the ip address from the specified interface.
>>> get_ip_address('eth0')
'192.168.0.7'
@type ifname: string
@param ifname: The interface name. Typical names are C{'eth0'},
C{'wlan0'}, etc.
@rtype: string
@return: The IP address of the specified interface.
"""
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15]))[20:24])
def read_parameter(name, default):
"""
Get a parameter from the ROS parameter server. If it's not found, a
warn is printed.
@type name: string
@param name: Parameter name
@param default: Default value for the parameter. The type should be
the same as the one expected for the parameter.
@return: The restulting parameter
"""
if not rospy.has_param(name):
rospy.logwarn('Parameter [%s] not found, using default: %s' % (name, default))
return rospy.get_param(name, default)
