Where to verify or change config of urg_node?

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

TJump
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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?

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

Chad Rockey

4541 ●63 ●79 ●98 http://chadrockey.com/

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

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

mjcarroll

6414 ●68 ●78 ●100 http://mjcarroll.io/

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.

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Where to verify or change config of urg_node?

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