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How to declare common parameter

asked 2011-11-11 09:19:36 -0500

130s gravatar image

updated 2011-11-11 09:31:31 -0500

What is recommended ways to set common parameters in ROS?

In some of my nodes, I often want to use the same values for same purpose (e.g. subscribe/publish queue). Right now I'm setting parameters in .launch file. But since parameter comes with node name as prefix (e.g. /nodeNameA/paramNameB), parameters can't be generic enough (is it just because I don't know there's a way to nicely do this?).

Running a node that sets common parameters might be an option but right now I'm not planning to make such a thing, and more interested in better/ideal solutions if any. Thanks.

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answered 2011-11-11 09:44:52 -0500

arebgun gravatar image

updated 2011-11-26 04:34:56 -0500

joq gravatar image

You can easily declare parameters outside a <node> tag in a launch file:

<launch>
   <param name="common_param" value="123"/>
   <node name="node1" ... />
   <node name="node2" ... />
</launch>

Since these parameters are not specific to any one node, you may want to resolve them using searchParam() in your code.

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Asked: 2011-11-11 09:19:36 -0500

Seen: 445 times

Last updated: Nov 26 '11