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1 | initial version |
You have an issue because you can't give the yaml
file as an argument in the node
tag. As discussed in #q274609, you have to modify your launch file like this model (the arg part isn't mandatory but useful if you have to incluide your launchfile in another one) :
<launch>
<arg name="file_name" default="$(find my_package)/my_yaml.yaml"/>
<rosparam command="load" file="$(arg file_name)"/>
</launch>
So in your case it should look like this :
<launch>
<node name="SLAM" pkg="SLAM" type="SLAM">
<rosparam command="load" file="$(find YOUR_PACKAGE_NAME_WITH_DATA_FOLDER)/Data/Asus.yaml"/>
<rosparam command="load" file="$(find YOUR_PACKAGE_NAME_WITH_DATA_FOLDER)/Data/ORBvoc.yaml"/>
</node>
</launch>
Note 1 : You can add the rosparam
tags outside the node
tag if you want to share your parameters with other nodes.
Note 2 : If you didn't notice, I changed ORBvoc.txt
to ORBvoc.yaml
. I don't know what your txt
file is but if you have to load parameters from this file too you can't pass another file than a yaml
one so you'll have to change your file extension to yaml
, see #q12284.
2 | No.2 Revision |
You have an issue because you can't give the yaml
file as an argument in the node
tag. As discussed in #q274609, you have to modify your launch file like this model (the arg part isn't mandatory but useful if you have to incluide include your launchfile in another one) :
<launch>
<arg name="file_name" default="$(find my_package)/my_yaml.yaml"/>
<rosparam command="load" file="$(arg file_name)"/>
</launch>
So in your case it should look like this :
<launch>
<node name="SLAM" pkg="SLAM" type="SLAM">
<rosparam command="load" file="$(find YOUR_PACKAGE_NAME_WITH_DATA_FOLDER)/Data/Asus.yaml"/>
<rosparam command="load" file="$(find YOUR_PACKAGE_NAME_WITH_DATA_FOLDER)/Data/ORBvoc.yaml"/>
</node>
</launch>
Note 1 : You can add the rosparam
tags outside the node
tag if you want to share your parameters with other nodes.
Note 2 : If you didn't notice, I changed ORBvoc.txt
to ORBvoc.yaml
. I don't know what your txt
file is but if you have to load parameters from this file too you can't pass another file than a yaml
one so you'll have to change your file extension to yaml
, see #q12284.