Allow to recursively set alists in ros::set-param

roseus/euslisp/roseus.l

@@ -327,6 +327,15 @@
                  params)
      ,@args))
 
+;; ros::set-param definition to allow setting nested values
+(defun set-param (key val)
+  (if (and (listp val) (every #'consp val))
+      (dolist (l val)
+        (set-param (concatenate string key "/" (car l)) (cdr l)))
+      (raw-setparam key val))
+  t)
+
+
 (defun ros-message-destructuring-bind-parse-arg (msg params)
   "this function returns a list like ((symbol value) (symbol value) ...).
 always the rank of list is 2"

roseus/roseus.cpp

@@ -2083,7 +2083,7 @@ pointer ___roseus(register context *ctx, int n, pointer *argv, pointer env)
          "	(ros::advertise-service \"add_two_ints\" roseus::AddTwoInts #'add-two-ints)");
   defun(ctx,"UNADVERTISE-SERVICE",argv[0],(pointer (*)())ROSEUS_UNADVERTISE_SERVICE, "Unadvertise service");
 
-  defun(ctx,"SET-PARAM",argv[0],(pointer (*)())ROSEUS_SET_PARAM, "key value\n\n""Set parameter");
+  defun(ctx,"RAW-SETPARAM",argv[0],(pointer (*)())ROSEUS_SET_PARAM, "key value\n\n""Set parameter");
   defun(ctx,"GET-PARAM",argv[0],(pointer (*)())ROSEUS_GET_PARAM, "key\n\n""Get parameter");
   defun(ctx,"GET-PARAM-CACHED",argv[0],(pointer (*)())ROSEUS_GET_PARAM_CACHED, "Get chached parameter");
   defun(ctx,"HAS-PARAM",argv[0],(pointer (*)())ROSEUS_HAS_PARAM, "Check whether a parameter exists on the parameter server.");