Does <param> override an included launch file's variable?

asked 2021-03-26 12:40:21 -0500

MadeleineP
21 ●6 ●9 ●10

I am including a launch file from another package. It loads a yaml file which sets values in the parameter server.

I like all the values except once, so I'd like to set only that value. However, what I'm doing doesn't seem to override the value on the parameter server. In my launch file I have the following:

<include file="$(find some_package)/launch/package.launch">
  <param name="some/var" type="bool" value="false" />
</include>

where I'd like to change the variable var to false, which is set to true in the yaml file being included by package.launch.

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answered 2021-03-26 12:49:01 -0500

MadeleineP
21 ●6 ●9 ●10

Well, I now see that if I put the <param> outside and after the <include> tag, this works as I wanted.

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See also #q199608, which is sort-of a duplicate of your question.

gvdhoorn ( 2021-03-27 01:33:52 -0500 )edit

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answered 2021-03-26 14:15:23 -0500

Akhil Kurup

459 ●1 ●56 ●14 https://sites.google.c...

updated 2021-03-26 14:15:58 -0500

You can include args with defaults in your launch file and use them as params when launching your node. If you want to change these defaults, you can provide specific args from command line while launching.

<launch>

  <!-- Args -->
  <arg name="some_arg" default="true" doc="description of some arg>

  <include file="$(find some_package)/launch/package.launch">
    <param name="some/var" value="$(arg some_arg)"/>
  </include>

</launch>

If you want to change the value of some_arg at launch time: $ roslaunch some_package some_arg:=false

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Does <param> override an included launch file's variable?

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