Ask Your Question
0

Can I change parameter of plugins in yaml

asked 2017-11-23 03:21:11 -0500

dyan gravatar image

updated 2017-11-25 02:15:11 -0500

I have installed range_sensor_layer for local_costmap. in the local_costmap_param.yaml:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 3.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  transform_tolerance: 1.0
  map_type: costmap
  plugins:
     - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}

the range_sensor_layer has some parameters,is it possible to change them in this yaml?


I found some code in costmap_2d_ros.cpp line 114:

if (private_nh.hasParam("plugins"))
{
  XmlRpc::XmlRpcValue my_list;
  private_nh.getParam("plugins", my_list);
  for (int32_t i = 0; i < my_list.size(); ++i)
  {
    std::string pname = static_cast<std::string>(my_list[i]["name"]);
    std::string type = static_cast<std::string>(my_list[i]["type"]);
    ROS_INFO("Using plugin \"%s\"", pname.c_str());

    boost::shared_ptr<Layer> plugin = plugin_loader_.createInstance(type);
    layered_costmap_->addPlugin(plugin);
    plugin->initialize(layered_costmap_, name + "/" + pname, &tf_);
  }
}

It looks like should be:

......
plugins:
     - {name: sonar,   type: "range_sensor_layer::RangeSensorLayer"}
sonar:
     ......
     ......

but my sonar on the way,I cannot test this.

edit retag flag offensive close merge delete

Comments

Yup. This is the way to do it...

mgruhler gravatar image mgruhler  ( 2017-11-28 01:21:46 -0500 )edit

@mig: thanks for confirm

dyan gravatar image dyan  ( 2017-11-30 02:51:33 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-11-30 07:01:58 -0500

mgruhler gravatar image

Yup. This is the way to do it...

(So you can acutally mark this as answered...)

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2017-11-23 03:21:11 -0500

Seen: 277 times

Last updated: Nov 30 '17