YAML / RosLaunch debug suggestion

asked 2014-12-04 07:59:41 -0500

corb
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For some complicated Roslaunch setups, it can be tough to figure out where a parameter came from. I've added the following line to each YAML file and it helps me tremendously. The tag is "source" and the value is the YAML file name:

For example in arm.yaml: source: arm.yaml

When ROSLaunch executes, you'll see the parameters print out something like this and you can immediately tell where the params came from.

/arbotix/joints/gripper_joint/max_angle: 0
/arbotix/joints/gripper_joint/max_speed: 50
/arbotix/source: arm.yaml
/arbotix/write_rate: 25

Does anyone see a downside to this or better approach?

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answered 2014-12-05 02:41:26 -0500

Dan Lazewatsky
9115 ●79 ●103 ●160 http://dan.lazewatsky.com/

I'd suggest bringing this up with the roslaunch SIG, where it can be discussed in detail. It may be possible to build a feature like this into roslaunch - a few other additions have been made recently to make launch files easier to understand and debug.

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Thanks - will do

corb ( 2014-12-05 20:34:59 -0500 )edit

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answered 2014-12-05 02:14:44 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

One possible issue with this I can see is if you have multiple yaml files all contributing to the same parameter namespace (so all putting parameters under /foo fi). iiuc if all files also have a source parameter, the last file loaded will set the value of the source parameter.

If all yaml files load into different namespaces, then this is not an issue, of course.

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That's definitely an issue, but also a feature since that was one of the problems I was tracking down - which file was applied last.

corb ( 2014-12-05 20:35:39 -0500 )edit

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