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ROS2 Run __params not affecting node

asked 2019-10-09 14:33:13 -0500

updated 2019-10-09 14:53:36 -0500

Hi,

I'm running on D and E, neither can I get my read in parameter file to affect the node, ei

ros2 run slam_toolbox localization_slam_toolbox_node __params:=install/slam_toolbox/share/config/mapper_params_localization.yaml

and a more simple example:

ros2 run demo_nodes_cpp parameter_blackboard __params:=install/slam_toolbox/share/config/mapper_params_localization.yaml

For the blackboard example I directly copied the example from the tutorials page into that config file:

parameter_blackboard:
    ros__parameters:
        some_int: 42
        a_string: "Hello world"
        some_lists:
            some_integers: [1, 2, 3, 4]
            some_doubles : [3.14, 2.718]

and for the slam_toolbox example, a simple minimum look at a single parameter:

slam_toolbox:
  ros__parameters:
    solver_plugin: blahblah::FakePluginFailToLoadPlz

When I run the blackboard demo, it crashes if I give it a bad file path, but my node doesnt, but still fails to have anything from it included.

Any thoughts? It seems like none of the ROS2 nodes I have will accept any comandline params, but when I do

__ns:='/hi'

on the blackboard, that will take fine. My other node again produces no errors even if this namespace is invalid and just doesn't take.

I am declaring my parameters:

  std::string solver_plugin = std::string("solver_plugins::CeresSolver");
  solver_plugin = this->declare_parameter("solver_plugin", solver_plugin);

Edit:

I'm seeing though the 1 random param in blackboard (use_sim_time, with all nodes) will work if I set it in the file, but not reading the others in the file at all. https://github.com/ros2/demos/blob/ma...

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answered 2019-10-09 15:03:50 -0500

Huh, after a full day on this, I cleaned up paths and tried again and started working. Can't really explain why, maybe something got cached in an odd state. Closing

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Asked: 2019-10-09 14:33:13 -0500

Seen: 14 times

Last updated: Oct 09