ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org
Ask Your Question
0

Where to verify or change config of urg_node?

asked 2013-06-10 14:24:21 -0500

TJump gravatar image

When reviewing the URGConfig.dox and comparing to the HokuyoConfig.dox there are several differences and I would like to test the urg_node with the values the same as with the hokuyo_node. If I edit the URGConfig.dox will this affect changes to the urg_node or do I need to access a different file to make these changes?

Example:

\b "~angle_min" : \b [double] Controls the angle of the first range measurement in radians. min: -3.14159265359, default: -3.14159265359, max: 3.14159265359

In the HokuyoConfig.dox for the same "~angle_min" it has the default at -1.57079632679; so again, what file do I change in the urg_node to get the settings the same as for the hokuyo_node?

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
1

answered 2013-06-11 08:02:43 -0500

Chad Rockey gravatar image

Configuration in ROS is not done with one config file per node. You use what's called the parameter server:

http://www.ros.org/wiki/Parameter%20Server

The files you are finding (cfgs) are for a very convenient way to change parameters without restarting the node: dynamic reconfigure.

http://ros.org/wiki/hokuyo_node/Tutorials/UsingReconfigureGUIToChangeHokuyoLaserParameters

edit flag offensive delete link more
2

answered 2013-06-11 07:14:33 -0500

mjcarroll gravatar image

You don't need to edit the cfg files.

Instead, you can set the parameters in your launch file, and they will be read in when the program starts.

<node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
  <param name="angle_min" value="-1.5707963"/>
</node>

As much as possible, you shouldn't have to modify the original package for things like setting parameters.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2013-06-10 14:24:21 -0500

Seen: 1,406 times

Last updated: Jun 11 '13