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param server C++ lists

asked 2012-01-13 01:20:03 -0500

narcispr gravatar image

updated 2014-01-28 17:11:07 -0500

ngrennan gravatar image

I'm defining config vectors through the param server using yaml files:

sample: velocity_controller/velocity_max: [0.3, 0.2, 0.2, 0.0, 0.0, 0.5]

If I want to parse these vectors from a python node I use this code:

_velocity_max = array( rospy.get_param("velocity_controller/velocity_max") )

However, in C++, using the ros::param::getCached() I'm only able to parse the following types: string, int, double, bool or XmlRpcValue.

How I can import my values into a std::vector<double> ?

Thank you!

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answered 2012-01-13 01:50:57 -0500

AHornung gravatar image

You need to convert the lists yourself from XmlRpcValue, see http://www.ros.org/wiki/roscpp/Overview/Parameter%20Server#Retrieving_Lists

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Thank you! I can't understand how I skip this example :)
narcispr gravatar image narcispr  ( 2012-01-16 02:19:09 -0500 )edit
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answered 2014-05-21 09:35:40 -0500

jbohren gravatar image

updated 2014-05-21 09:56:43 -0500

In ROS groovy and forward you can now get vectors and dictionaries of primitives and strings without having to use the XmlRpc API: https://github.com/ros/ros_comm/pull/279

See the unit tests for examples, but it works like you'd expect it to work: https://github.com/ros/ros_comm/blob/...

I've updated the wiki doc here: http://wiki.ros.org/roscpp/Overview/P...

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Thanks for updating the wiki Jon. This API addition never got publicized enough, and addresses an important pain point in the roscpp API.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2014-05-21 22:01:26 -0500 )edit
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answered 2012-01-13 01:51:21 -0500

dornhege gravatar image

Specifically for lists the param server documentation has a code example.

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answered 2012-01-13 01:25:09 -0500

DimitriProsser gravatar image

Give my answer to this question a look. It allows you to look up parameters into a map. I use it to build an array of strings, but you could easily just use doubles instead.

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Asked: 2012-01-13 01:20:03 -0500

Seen: 7,375 times

Last updated: May 21 '14