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Calibration / Tuning Tool Support

asked 2022-07-28 10:53:08 -0500

holunder gravatar image

Hi,

I've some years of experience in running ROS1 applications and tuning a limited number of scalar and vector parameters by means of rosparam.

For future tasks I'd like to move an existing larger scale embedded application to ROS. As this application has a high number of parameters, I'm interested in more convenient (graphical) tools for tuning the ROS node.

Could you please give me a hint on that? This questions refers to ros1 and ros2.

Thanks

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answered 2022-08-01 11:07:40 -0500

gvdhoorn gravatar image

updated 2022-08-01 11:08:38 -0500

The canonical answer to this would likely be: rqt_reconfigure (which also exists for ROS 2):

rqt_reconfigure example

Whether that would fit your requirements only you can decide of course.

Your post confuses me somewhat though:

I've some years of experience in running ROS1 applications and tuning a limited number of scalar and vector parameters by means of rosparam.

did you have to restart the node(s) for which you changed those parameters? Nodes re-reading their ROS parameters at runtime is a known anti-pattern, but that would be the only way to "tune" parameters while things are running.

dynamic_reconfigure would be the infrastructure to use for runtime updating of parameters, but if you were already using that, I'd expect rqt_reconfigure to be a known tool.

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Thanks, That's looking exactly as the one I was searching for. I'll investigate this further.

I didn't restart nodes during parameter tuning. It was relasted to controller tuning or enabling / disabling specific functions.

holunder gravatar image holunder  ( 2022-08-01 13:01:33 -0500 )edit

I didn't restart nodes during parameter tuning.

sounds like those nodes implemented the anti-pattern then.

gvdhoorn gravatar image gvdhoorn  ( 2022-08-02 02:43:53 -0500 )edit

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Asked: 2022-07-28 10:53:08 -0500

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Last updated: Aug 01