Min and max value with ROS2 Parameter

asked 2019-01-04 02:13:33 -0500

poonam1120
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Hi Everyone,

The dynamic reconfigure is not available in ROS2, and its replacement Parameter feature is used. With ROS, .cfg files are used, where parameter's value, min , max and other details can be given. With ROS2, I tried to set parameter with value and its working fine, but is there a way to set min and max value for that parameter? e.g. of .cfg

gen.add ("min_x", double_t, 0, "X coordinate of the minimum point of the box.", -1, -1000, 1000)

Thanks.

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answered 2019-01-04 10:07:14 -0500

Dirk Thomas
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updated 2019-01-04 10:07:24 -0500

There is currently (as of Crystal) no comparable feature to declare parameter boundaries.

Once the change to IDL has landed I imagine that it will be possible to create an .idl which declares the parameters of a node including their valid range (like .cfg files in ROS 1 but language agnostic).

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Once the change to IDL has landed [..]

the change?

gvdhoorn ( 2019-01-04 10:10:07 -0500 )edit

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https://github.com/ros2/rosidl/pull/298

Dirk Thomas ( 2019-01-04 10:26:31 -0500 )edit

@gvdhoorn This is a change to add support for IDL messages in addition to msg format.

tfoote ( 2019-01-04 13:17:06 -0500 )edit

Thanks all for the response

poonam1120 ( 2019-01-04 13:31:26 -0500 )edit

@tfoote: I was/am aware of the IDL work :) Just thought it would be nice if @Dirk Thomas could link to a PR / issue as that would make his answer better.

gvdhoorn ( 2019-01-04 14:57:29 -0500 )edit

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answered 2019-01-04 13:16:26 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

The ability to describe a parameter and expected ranges is not currently implemented but we have designed the ParameterDescription message to be able to be able to be extended to support expressing limits of various forms: https://github.com/ros2/rcl_interface...

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