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Launching with parameters (was "How to block until a master is running")

asked 2011-08-11 16:02:08 -0500

Mac gravatar image

updated 2011-08-18 05:22:23 -0500

I have a script that wraps rosbag play (because I need to set some rosparams first). However, if I run my script before my master finishes coming up, my calls to rosparam set fail, and my parameters don't get set (the call to play blocks until the master is up).

Is there a convenient way to block until a master comes up? I could write a miniature node that does it, but I thought I'd ask.

Another possibility: arguably, this is a bug in rosparam; it should either (a) block until it has a master or (b) at least provide a non-zero return code when it dies with "Unable to communicate with master", so I can spinblock it myself.

Thoughts?

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answered 2011-08-12 09:25:22 -0500

Brian Gerkey gravatar image

updated 2011-12-08 12:51:24 -0500

I'm not sure that I fully understand your use case, but you might try roslaunch args. Here's a launch file that sets two params from arguments:

<launch>
  <arg name="my_integer_param" default="1"/>
  <arg name="my_string_param" default="foobar"/>
  <param name="my_integer_param" value="$(arg my_integer_param)"/>
  <param name="my_string_param" value="$(arg my_string_param)"/>
  <node name="rosplay" pkg="rosbag" type="rosbag" args="play /tmp/mybag.bag"/>
</launch>

Defaults for the args are given, so you can launch it normally:

roslaunch foo.launch

But you can override them on the command-line, e.g.:

roslaunch foo.launch my_integer_param:=42 my_string_param:=barfoo
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3

answered 2011-08-11 20:11:35 -0500

Ugo gravatar image

I'm using this to wait for a rosmaster:

until rostopic list ; do sleep 1; done
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3

answered 2011-08-11 22:28:54 -0500

Zack gravatar image

just wondering. Would it be more convenient to put all of these in a launch file?

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Comments

In this case, it wouldn't, unless there's some way to read command-line arguments in roslaunch.
Mac gravatar imageMac ( 2011-08-12 08:44:59 -0500 )edit
You can use arguments from the command line. http://www.ros.org/wiki/roslaunch/XML/arg
tfoote gravatar imagetfoote ( 2011-08-12 11:10:59 -0500 )edit

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Asked: 2011-08-11 16:02:08 -0500

Seen: 620 times

Last updated: Dec 08 '11