Setting parameters in a launch file does not appear to be working

asked 2012-09-04 11:37:20 -0500

cduguet
187 ●11 ●16 ●20

updated 2012-09-05 07:33:05 -0500

jbohren

5799 ●55 ●87 ●102 http://dscl.lcsr.jhu.e...

Hello,

Some script which was working before, now does not work anymore. The issue is that the param instruction in the launch file, does not seem to have any effect in the executable file

<param name="camera_topic" value="/camera/image_rect"  type="str"/>

in my C++ executable, I looked for this "camera_topic" relative parameter as:

ros::param::get("camera_topic",camera_topic);

but I cannot get them easily. setting the same parameter in the program before getting it works, so I conclude it must be something about the launch file. The funny thing is that it worked before (+2 months).

Comments

I'm sure it still works in principle. You can check if and where it is set by rosparam list. If that doesn't help you need to come up with a complete minimal example.

dornhege ( 2012-09-04 22:05:59 -0500 )edit

I have tried it thanks! I is there indeed. But the node executable somehow still does not read it. Could it be about time delay?

cduguet ( 2012-09-05 04:47:14 -0500 )edit

Not if set by roslaunch. Test by launching the node manually, when the param is set - I suspect it won't work either.

dornhege ( 2012-09-05 05:30:28 -0500 )edit

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answered 2012-09-05 07:30:18 -0500

jbohren

5799 ●55 ●87 ●102 http://dscl.lcsr.jhu.e...

If you don't use a forward slash, "ros::param::get" gets a parameter from the node's namespace, but not its private namespace. If you put that parameter tag inside of a <node> tag, it will be in this private namespace.

For example, the following roslaunch xml:

<param name="camera_topic_root" value="/camera/image_rect">
<group ns="group_ns">
    <param name="camera_topic_ns" value="/camera/image_rect">
    <node name="node_name" pkg="foo" type="bar" >
        <param name="camera_topic_private" value="/camera/image_rect">
    </node>
</group>

Would set the parameters:

/camera_topic_root
/group_ns/camera_topic_ns
/group_ns/node_name/camera_topic_private

To get these parameters with the ros::param::get API, you could do each of the following:

ros::param::get("/camera_topic_root",camera_topic);    // /camera_topic_root
ros::param::get("camera_topic_ns",camera_topic);       // /group_ns/camera_topic_ns
ros::param::get("~camera_topic_private",camera_topic); // /group_ns/node_name/camera_topic_private

This is documented slightly less succinctly here.

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Comments

Thank you! I missed the "~" in the private parameter! :). Basic question, I hope this answer will help everyone making the same little mistake.

cduguet ( 2012-09-11 05:28:52 -0500 )edit

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Setting parameters in a launch file does not appear to be working

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