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Right now, for every node I am creating a yaml file and put all the parameters inside and call this file in the launch file under the corresponding node.
Is it possible to create only one yaml file where I can specify name tags for parameters? Something like;
Node name:
param1: 1.0
param2: 2.0
Node name2:
param1: 3.0
param2: 4.0
The yaml is not associated with any particular node, but more to do with namespaces. That is, a yaml that looks like:
settings: # Arbitrary settings
camera:
format: "jpeg"
wheels:
max_speed: 3.0
min_speed: 0.2
would create three values in the parameter service. If you type in rosparam list, you would get:
/settings/camera/format
/settings/wheels/max_speed
/settings/wheels/min_speed
(You can get the actual values with rosparam get [param]).
The point of this is that a node can get any of these parameters. In your launch file, instead of putting the <rosparam> tag inside the node (which I understand you have), you can have it at the top. Something like:
<launch>
<rosparam file="$(find package1)/config/settings.yaml" command="load" />
<node pkg="package1" type="node1" name="node1" />
</launch>
Asked: 2016-11-28 10:37:10 -0500
Seen: 1,166 times
Last updated: Nov 28 '16
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