![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.0.2 |
License | Apache |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | foxy-devel |
Last Updated | 2021-03-15 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- user
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
Changelog for package launch_pal
0.0.2 (2021-03-15)
- Added missing dependencies
- Contributors: Jordan Palacios
0.0.1 (2021-03-15)
- Add CONTRIBUTING and LICENSE
- Apply linter fixes
- Add param_utils
- PAL utils for ROS2 launch files
- Contributors: Victor Lopez
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
pmb2_bringup | |
pmb2_description | |
pmb2_gazebo |
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_pal |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.16.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/pal-robotics/launch_pal.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-08-26 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL’s PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
User overrides
Users can provide local overrides via configuration files in
$HOME/.pal/config
.
For instance, creating a file ~/.pal/config/default_volume.yml
with the
content:
/volume:
ros__parameters:
default_volume: 75
would override the ROS parameter default_volume
for the node /volume
.
This is useful for eg persist user configuration across robot reboots.
The default location of user configuration is $HOME/.pal/config
. It can by
changed by setting the environment variable $PAL_USER_PARAMETERS_PATH
.
Variables
Configuration files can cointain variables in the form ${VAR}
.
/costmap:
ros__parameters:
robot_radius: ${robot_radius}
These variables are resolved by using the robot_info_publisher.
/robot_info_publisher:
ros__parameters:
robot_radius: 0.275
By default, variables values are stored in /etc/robot_info/conf.d
and can be overriden by the user in $HOME/.pal/robot_info/conf.d
.
Templates
Templates define configuration presets of a Node. They define a set of parameters, remappings and arguments that define a way to achieve a certain functionality of a node. Templates are independent from the node they are used in, and can be used in multiple nodes.
rgb_camera_low_contrast.yaml
ros__parameters:
...
color:
contrast": 20
gain": 10
gamma": 100
saturation": 10
...
rgb_camera_high_contrast.yaml
ros__parameters:
...
color:
contrast": 50
gain": 60
gamma": 300
saturation": 60
...
To use a Template, the template
key must be set in the Node’s configuration file.
head_camera.yaml
/head_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
right_hand_camera.yaml
/right_hand_camera_node:
template: "rgb_camera_low_contrast.yaml"
...
File truncated at 100 lines see the full file
Changelog for package launch_pal
0.16.0 (2025-08-26)
- added map name
- Contributors: martinaannicelli
0.15.0 (2025-08-22)
- added stockbot to list of robots name
- Contributors: martinaannicelli
0.14.1 (2025-06-16)
- Fix end-effector ari
- Contributors: davidterkuile
0.14.0 (2025-06-05)
- introduce robot_info_file
- Contributors: antoniobrandi
0.13.0 (2025-06-05)
- introduce IfNodeRunning and UnlessNodeRunning
- Contributors: antoniobrandi
0.12.1 (2025-04-09)
- Added argument for the side an arm is mounted
- Contributors: oscarmartinez
0.12.0 (2025-04-02)
- read ROBOT_INFO_PATH env if available
- fix log color resets
- linters
- restore _parse_config and mark as deprecated
- add filtering to get_pal_configuration
- use consistent messages is get_pal_configuration
- rename pal configuration templates to presets
- rename pal configuration templates to presets
- Improve logging and variables substitution
- fix pal configuration logging in case of no arguments specified
- pal_parameter configuration files support paths splitting also with ;
- add variables support to pal_parameters
- use flattened parameter names in pal_parameters
- add template support; rework test_pal_parameters
- Contributors: Luka Juricic, antoniobrandi
0.11.0 (2025-02-04)
- Add comments
- fix ament_pep8 linting
- add generic string substitution concat
- Contributors: thomasung
0.10.0 (2025-01-20)
- Update wrong return value
- Apply suggestion after review
- Apply 1 suggestion(s) to 1 file(s)
- Add jinja2 dependency
- Add master calibration implementation
- Contributors: David ter Kuile, antoniobrandi
0.9.0 (2024-12-02)
- Merge branch 'abr/feat/docking' into 'master' added docking args See merge request common/launch_pal!73
- added docking args
- Merge branch 'upt/tun/readme' into 'master' update robot_arguments readme section See merge request common/launch_pal!71
- remove internal gitlab links
- fix linting issues
- update robot_arguments readme section
- Contributors: antoniobrandi, davidterkuile, thomasung
0.8.0 (2024-11-11)
- Suggestions apply
- Added xacro missing arg warning
- Removing unnecesary parsing
- Launch arguments check
- Xacro args checker
- Contributors: oscarmartinez
0.7.0 (2024-10-16)
- update README iwith get_pal_configuration automatic arguments
- [pal_get_params] ensure we get the default values for nested parameters
- [get_pal_parm] automatically creates cmdline arguments for node
params This is controlled by the 'cmdline_args' param of :
- cmdline_args=True (default): create cmd line arguments for all params
- cmdline_args=[...]: create cmdline arguments for the listed params
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