Set parameter list using XmlRpc

asked 2013-02-15 01:37:16 -0600

I.T
67 ●7 ●11 ●13

updated 2014-01-28 17:15:16 -0600

ngrennan
1 ●1 ●1

Hi,

I need to set some ros parameters where one of them is a list of strings. I'm using C++ but cannot find an example of how to do it.

I currently have a list std::vector<std::string> which I want to set in the ros parameter server.

From here http://www.ros.org/wiki/roscpp/Overview/Parameter%20Server I understand I need to use XmlRpc::XmlRpcValue to set the array.

So far I have tried:

//agent_names is a populated std::vector of std::string

XmlRpc::XmlRpcValue vocabulary(agent_names);

n.setParam("vocabulary", vocabulary);

But it doesn't compile.

How do I construct an XmlRpcValue object from a std::vector?

Also, do I need to link to the XmlRpc library in my CMakeLists.txt and then import headers in my code? In that case, what do I put in my CMakeLists.txt?

Any help is greatly appreciated =)

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answered 2013-02-20 00:23:31 -0600

I.T
67 ●7 ●11 ●13

updated 2016-09-12 13:42:43 -0600

I finally ended up setting the parameter by using a launch file for my node.

Example:

Launch file:

<launch>
    <rosparam param="x_vector">[1.0, 2.0,
3.0]</rosparam>
    <node name="my_node" pkg="my_package" type="my_node" />
</launch>

Then in your node, get the vector like this:

std::vector<double> x_vec;
std::vector<double> x_vec_default = {1.0, 0.5, 0.5, 1.0};

n.param<std::vector<double> >("x_vector", x_vec, x_vec_default);

And x_vec will hold the values given in the launch file, or the contents in x_vec_default if the x_vector is not available as a parameter (for example if launching the node without the launch file).