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I kinda gave up on finding a solution using C++, so I sticked with python, but if someone knows how to do it using C++ then I would be happy to hear. For people interested in the same topic, then I have applied the code below for reading the parameter server and publish the values, so far only for simple data types. I am using my own message types to publish the data, which contain the name and a value, which is either int, float, bool or a string.

#!/usr/bin/env python

import roslib
roslib.load_manifest('ros_rws_plugin')
import sys
import rospy
from ros_rws_plugin.msg import *


def main(args):
    rospy.init_node('read_param')

    pub_int = rospy.Publisher('parameter/int', propertyInt )
    pub_float = rospy.Publisher('parameter/float', propertyFloat )
    pub_bool = rospy.Publisher('parameter/bool', propertyBool )
    pub_str = rospy.Publisher('parameter/string', propertyString )

    rospy.set_param("int", 2)
    rospy.set_param("float", 2.2)

    r = rospy.Rate(5)

    while not rospy.is_shutdown(): 
        names = rospy.get_param_names()

        for name in names:
            if type( rospy.get_param(name) ) is int : 
                pub_int.publish( propertyName=name, propertyValue=rospy.get_param(name) )
            elif type( rospy.get_param(name) ) is float : 
                pub_float.publish( propertyName=name, propertyValue=rospy.get_param(name) )
            elif type( rospy.get_param(name) ) is bool : 
                pub_bool.publish( propertyName=name, propertyValue=rospy.get_param(name) )
            elif type( rospy.get_param(name) ) is str : 
                pub_str.publish( propertyName=name, propertyValue=rospy.get_param(name) )



        r.sleep()

if __name__ == '__main__':
    main(sys.argv)