ROS Param Plugin

Source code on GitHub.

This plugin provides a function to retrieve ROS parameters from the node that manages the CLIPS environments.

In order to retrieve params from other nodes, the RosMsgsPlugin may be used to call the respective services directly.

Configuration

This plugin has no specific configuration options.

Features

Functions

This plugin adds a custom functions as listed below.

(?bind ?val (ros-param-get-value ?param-name ?default-value))
; example args: "environments" (create$ not-found)
; example ret:  ("cx_ros_param")

Usage Example

A minimal working example is provided by the cx_bringup package. Run it via:

ros2 launch cx_bringup cx_launch.py manager_config:=plugin_examples/ros_param.yaml

It calls all of the provided function to print some parameters.

Configuration

File cx_bringup/params/plugin_examples/ros_param.yaml.

/**:
  ros__parameters:
    unused_param: "i am not used anywhere"
    environments: ["cx_ros_param"]
    cx_ros_param:
      plugins: ["ros_param", "files"]
      log_clips_to_file: true
      watch: ["facts", "rules"]

    ros_param:
      plugin: "cx::RosParamPlugin"
    files:
      plugin: "cx::FileLoadPlugin"
      pkg_share_dirs: ["cx_bringup"]
      batch: [
        "clips/plugin_examples/ros-param.clp"]

Code

File cx_bringup/clips/plugin_examples/ros-param.clp.

(printout info "(ros-param-get-value \"environments\" (create$ not-found))" crlf)
(printout green "    " (ros-param-get-value "environments" (create$ not-found)) crlf)

(printout info "(ros-param-get-value \"cx_ros_param.log_clips_to_file\" FALSE)" crlf)
(printout green "    " (ros-param-get-value "cx_ros_param.log_clips_to_file" FALSE) crlf)

(printout info "(ros-param-get-value \"bond_heartbeat_period\" 5.5)" crlf)
(printout green "    " (ros-param-get-value "bond_heartbeat_period" 5.5) crlf)

Changelog for package cx_ros_param_plugin

0.1.3 (2025-08-06)

• 0.1.3
• ros_param_plugin: plugin for retrieving params from parent ROS node This plugin is meant to ease the customization when starting the CX via run or launch. Params of other nodes may be retrieved via the ROS bindings (calling the respective parameter services).
• Contributors: Tarik Viehmann