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dumping parameters from c++ node

asked 2019-07-02 08:15:34 -0500

schizzz8 gravatar image

Hi all,

I have a simple question but I can't seem to find a nice solution.

My problem is the following:

I have a YAML file that stores some parameters. These parameters are loaded into the parameter server at execution time. For some reason I want to change some parameters and store them permanently in the YAML file.

That is, I retrieve a certain field of the parameter:

XmlRpc::XmlRpcValue param;
nh.getParam("param_name", param);
ROS_ASSERT(param.getType() == XmlRpc::XmlRpcValue::TypeStruct);
std::string field = static_cast<std::string>(param["field]);

and then, after modifying it, I'd like not only to set the new value in the parameter server but also to permanently store this change.

I have seen that rosparam has the dump option and I was wondering if there is an analogous function in roscpp. I'd be very glad if someone could show me how it can be done.


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I do not believe there is a C++ equivalent to rosparam dump

ahendrix gravatar image ahendrix  ( 2019-07-02 10:26:16 -0500 )edit

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answered 2020-04-27 08:36:19 -0500

You can do that with the tool I am working on ->, a slightly dated version is available as a package in melodic.

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Could you please expand a little on your answer? It's not apparent from the readme of that repository how this could be used to achieve what the OP describes.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-27 09:01:44 -0500 )edit

Think of it as a serializer that supports ROS parameter server:

  1. define a class with parameters
  2. deserialize it from parameter server
  3. modify
  4. serialize to a yaml file
asherikov gravatar image asherikov  ( 2020-12-17 08:51:07 -0500 )edit

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Asked: 2019-07-02 08:15:34 -0500

Seen: 805 times

Last updated: Jul 02 '19