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2018-10-03 23:04:33 -0500 | marked best answer | How to use txt file as a parameter to roslaunch file? Hello All, Background: My idea is to receive not constant number of topics, to which I want to subscribe in my C code. I decided to do it in the next way: I will prepare a text file with the number and the name of the topics ---> convert it using launch file syntax to a string ---> parse the string in my C code ---> decide to which topics to subscribe. In such a way I will only have to change the text file, while the launch file and the C code will not be changed. Question: I have written the next line of code in my launch file: <param name="topics_list" textfile="$(find package_name)/file_name.txt"/> And I have placed my text file in the appropriate folder. In my C file I do the next: It doesn´t work.
Thank you all in advance, Felix. |
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2015-06-12 15:50:31 -0500 | marked best answer | How to deliver arguments to a callback function? Hello All, I am relatively new user of ROS, and would be grateful if you could answer to my question. I work with Linux and C, and I want to deliver arguments to my callback function. Lets say I want to deliver to it the next struct as a parameter: typedef struct imageManagmentStruct { IplImage* pSrcIplImage; IplImage* pDstIplImage; GdkPixbuf* pGtkPixbuf; GtkWidget* pGtkImgWindow; int previousImageSize; int left_attach; int right_attach; int top_attach; int bottom_attach; } ImageManagmentStruct; My callback is: void imageCallback ( const sensor_msgs::ImageConstPtr& msg, ImageManagmentStruct* pToImageManagmentStruct ) { // My code. } The call to the callback from the main done like this: ros::Subscriber subLeft = nh.subscribe ("/bb2/left/image_raw", 10, imageCallback, pointerToImageManagmentStruct); And this is not compiling... Thank you all, Felix. |
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2014-11-16 17:30:10 -0500 | marked best answer | Launch file - how to write it? Hello All, I am relatively new user of ROS, and this is the first time I should write a launch file. I would be happy if you could navigate me to the best way to do it. What I do is: I subscribe to recorded topics (bag files) using image_transport package, I republish their content to different topics (from compressed to raw), and eventually I subscribe to those topics with my subscriber (the only node I have created). The shell command lines I use in order to run my program without a launch file are: I also need to configure parameters for my program via this launch file. What from the above can/should be included in the launch file? What should not? What is the conceptual structure of my file should be like? Thank you for your attention, Felix, |
2014-10-08 02:50:19 -0500 | marked best answer | How to write and parse "yaml" file for ROS? Hello all, My goal is to subscribe to an "unknown" number of topics. I want to do the next algorithm:
The problem is that I have never written a "yaml" file, and the explanations in the Wikipedia page are not good for ROS. I would also be happy to know what is the best way to "parse" the info in my code (C). Thank you for your help, Felix. |