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Perform calculation in .launch file

asked 2014-10-07 04:21:09 -0500

koenlek gravatar image

Hi all,

I wondered if it is possible to do a calculation in a roslaunch file, something like:

<arg name="windowsize" default="20"/>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">
    <param name="xmin" value="$(arg -windowsize/2)" />
    <param name="ymin" value="$(arg  -windowsize/2)" />
    <param name="xmax" value="$(arg  windowsize/2)" />
    <param name="ymax" value="$(arg  windowsize/2)" />

I have tried several combinations, all without luck. And I can't seem to find anything about it on the web...

I really do need to be able to use the 'windowsize' argument, rather than 4 x/ymax/min arguments, to support some interface I made with other nodes I made...

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2 Answers

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answered 2017-01-01 11:36:57 -0500

VictorLamoine gravatar image

This is possible starting from Kinetic thanks to the eval keyword:

For example:

<param name="circumference" value="$(eval 2.* 3.1415 * arg('radius'))"/>

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great! That's exactly what I was looking for.

koenlek gravatar imagekoenlek ( 2017-01-02 04:48:06 -0500 )edit

answered 2014-10-07 18:19:51 -0500

ct2034 gravatar image

updated 2019-08-07 01:36:28 -0500

UPDATEThis changed in kinetic (see

As far as I am aware this wont be possible. The $(arg name)leads to substitution with the corresponding argument. But I think this only works for simple operations like replacements or logical decision lie if, unless.

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This answer is not true anymore!

VictorLamoine gravatar imageVictorLamoine ( 2017-01-01 11:37:09 -0500 )edit

good news :)

ct2034 gravatar imagect2034 ( 2017-06-07 03:59:06 -0500 )edit

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Asked: 2014-10-07 04:21:09 -0500

Seen: 1,037 times

Last updated: Aug 07