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Which node reads the configuration file?

asked 2015-03-27 05:49:59 -0600

mikelom gravatar image

Hello,

I am working with NXT-ROS. To define the sensors and actuators, you need to create a robot.yaml file. My question is, how is this file used? Is it read by some other node? By which?

I think it might be the node nxt_ros, but i am not really sure.

Thanks

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answered 2015-03-27 08:49:48 -0600

aak2166 gravatar image

You are correct as per the tutorial:

<node pkg="nxt_ros" type="nxt_ros.py" name="nxt_ros" output="screen" respawn="true"> <rosparam command="load" file="$(find learning_nxt)/robot.yaml" /> </node>

This launch file XML takes the robot.yaml file and loads the values to the ROS parameter server. It does this using the <rosparam> tags. Since it is nested in the <node> tags it sets all the parameters as private names under the nxt_ros node.

Hope this helps.

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Asked: 2015-03-27 05:49:59 -0600

Seen: 409 times

Last updated: Mar 27 '15