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Since you are placing the parameters inside of the node tag in your launch file, they are set to be "private parameters". All this really means is that the node's name is appended to the front of the globally resolved parameter name. So in this case (I can't see you whole launch file, so I'm guessing a bit), the global name for one of the params would be /xxxx/base_frame). When retrieving that parameter from the parameter server, you'd want to either use ros::param::get("~base_frame", camera_frame); (notice the tilde) or a private ros:::NodeHandle.

Read more on the roscpp Accessing Private Parameters page or the Names page

Since you are placing the parameters inside of the node tag in your launch file, they are set to be "private parameters". All this really means is that the node's name is appended to the front of the globally resolved parameter name. So in this case (I can't see you whole launch file, so I'm guessing a bit), the global name for one of the params would be /xxxx/base_frame). When retrieving that parameter from the parameter server, you'd want to either use ros::param::get("~base_frame", camera_frame); (notice the tilde) or a private ros:::NodeHandleros::NodeHandle.

Read more on the roscpp Accessing Private Parameters page or the Names page