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Loading rosparam in a remote computer

asked 2014-11-04 11:33:34 -0500

updated 2014-11-04 12:27:55 -0500

ahendrix gravatar image

Hi guys,

I'm trying to load a configuration file (.yaml) in a remote computer using rosparam as is shown in the following code:

<launch>

    <!-- Machine -->
    <machine name="localhost" address="localhost" env-loader="/opt/ros/hydro/env.sh"/>
    <arg name="machine" default="localhost" />

    <arg name="parameters" default="hierarchical_planner"/>

    <node pkg="dwl_planners" type="hierarchical_planner_node" name="hierarchical_planner" output="screen" machine="$(arg machine)"
    launch-prefix="xterm -e gdb --args">
        <!-- load hierarchical planner configurations from YAML file to parameter server -->
        <rosparam file="$(find dwl_planners)/config/$(arg parameters).yaml" command="load"/>

        <remap from="reward_map" to="/reward_map" />
        <remap from="obstacle_map" to="/obstacle_map" />
        <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
        <param name="world_frame" type="string" value="odom" />
        <!-- Base frame of the robot -->
        <param name="base_frame" type="string" value="base_link" />
    </node>

</launch>

Nevertheless, this method isn't loading the configuration because is searching in the local machine. Moreover, there isn't a tag machine, like in the node, that allow us to search in a remote computer.

Is there a method for doing this? Or This is a limitation of rosparam.

Thank in advance

Carlos Mastalli

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answered 2014-11-04 16:59:23 -0500

lebowski gravatar image

updated 2014-11-04 17:01:56 -0500

as far as i know there is no way to do this. $(find ... ) will always look on the machine you run the launchfile. i was looking for a solution for some time as well.

edit: this might be the same: link

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answered 2014-11-04 12:29:13 -0500

ahendrix gravatar image

All of the ROS parameters are stored in the ROS master. Have you tried changing your ROS_MASTER_URI environment variable to point to the ROS master on a different computer?

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Asked: 2014-11-04 11:33:34 -0500

Seen: 461 times

Last updated: Nov 04 '14