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Can we pass multiple config files to a node in ROS2

asked 2022-01-24 07:18:54 -0500

Raza Rizvi gravatar image

Currently, in all the examples I have seen, load a YAML file inside the Launch file, and pass it to the ROS2 node. I am curious, is there a possibility to pass more than one YAML file to a ROS2 Node?

Something like:

def generate_launch_description():
    ld = LaunchDescription()
    paramaters_one = os.path.join(
        get_package_share_directory('my_robot_bringup'),
        'config',
        'my_params1.yaml'
    )

    paramaters_two = os.path.join(
        get_package_share_directory('my_robot_bringup'),
        'config',
        'my_params2.yaml'
    )

    multiple_parameters_node = Node(
        package='my_robot_bringup',
        executable='multiple_parameters_check',
        name='multiple_parameters_check',
        parameters=[paramaters_one, paramaters_two]
    )
    ld.add_action(multiple_parameters_node)
    return ld
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1 Answer

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answered 2022-01-24 11:44:41 -0500

tfoote gravatar image

updated 2022-01-24 11:48:09 -0500

From @destogl https://discourse.ros.org/t/can-we-pa...

You can find an example how we are doing it in UR Driver repository. For loading files, please check the few lines before.

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This should work in my case, thanks a lot.

Raza Rizvi gravatar image Raza Rizvi  ( 2022-01-25 01:41:56 -0500 )edit

Please use the checkmark at the left of the answer to accept it so others will know that your question is resolved.

tfoote gravatar image tfoote  ( 2022-01-25 01:45:04 -0500 )edit

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Asked: 2022-01-24 07:18:54 -0500

Seen: 666 times

Last updated: Jan 24 '22