ProAut Parameter

Introduction

This is a simple helper-package for loading variables from the parameter server.

The main idea is to simplify the handling of parameters, which can be set to default values. The load() function will print if a parameter is loaded from the server or if its default value is used. In each case, the final value is printed, too.

Node

rosrun parameter_pa parameter_pa_node
roslaunch parameter_pa parameter_pa.launch

Services:

Functions

The main load() function can handle bool, int, double and string - all as single values and as vectors. Also matrices of double (float) can be loaded.

Additionaly, there are two more dedicated load functions: loadPath() and loadTopic(). Both are basically loading a simple string from the parameter server as descript above. Furthermore the strings are specificly manipulated:

loadPath()

Every “$(find xyz)” will be replaced with the path of package xyz.

loadTopic()

Names are resolved with additional operators.

For these examples assume that ROS_NAMESPACE is set to “/name/space” and that the nodes’ name is “parameter_pa_node”

Regular ressource names

Private ressource names

Locale ressource names

Previous ressource names

Removal of double slashes

More examples

Example Usage

A typical output looks like this:

[ INFO] [1499357951.543886548]: load parameter ~/tf_lookup_time (0.1)
[ INFO] [1499357951.544331412]: parameter ~/buffer_pointcloud not set (defaults to false)
[ INFO] [1499357951.544867951]: load parameter ~/debugging (true)

Here is the related source code, which is taken from pcdfilter_pa:

cParameterPaRos paramloader;

// ...
paramloader.load("~/tf_lookup_time"   , filters_.tf_lookup_time_     );
paramloader.load("~/buffer_pointcloud", rosparams_.buffer_pointcloud_);
paramloader.load("~/debugging"        , rosparams_.debugging_        );

Links and packages

Source code at github

https://github.com/TUC-ProAut/ros_parameter

ROS packages

ros-kinetic-parameter-pa

ros-melodic-parameter-pa (upcoming)

ros-noetic-parameter-pa (upcoming)

ROS Build-Status and Documentation

ROS-Distribution	Build-Status	Documentation
Indigo	EOL April 2019	docs.ros.org/indigo
Jade	EOL May 2017	docs.ros.org/jade
Kinetic	EOL April 2021	docs.ros.org/kinetic
Lunar	EOL May 2019	docs.ros.org/lunar
Melodic		docs.ros.org/melodic
Noetic		docs.ros.org/noetic

Changelog for package parameter_pa

1.2.3 (2021-06-08)

• bumped cmake Version to 3.0.2 to avoid CMP0048
• Contributors: Peter Weissig

1.2.2 (2021-06-08)

• updated documentation
  • updated README.md
  • added rosdoc.yaml
  • removed doxygen.h
• updated year of copyright
• updated gitignore-file
• updated files to new repository (only changed documentation and license) moved from github.com/peterweissig/ros_parameter to github.com/TUC-ProAut/ros_parameter
• Contributors: Peter Weissig

1.2.1 (2017-12-14)

• bugfixed loadTopic (loaded topic was not resolved)
• bugfixed documentation (some typos)
• Contributors: Peter Weissig

1.2.0 (2017-12-11)

• removed unnecessary headers
• bugfixed include of xmlrpcpp (before kinetic those files were not related to a package)
• update README.md bugfixed formatting (missing blanc line before table)
• added new features ("./" and "../" within ressource names) added visual studio code config files (for ros kinetic) updated documentation
• Contributors: Peter Weissig

1.1.0 (2017-08-01)

• moved header from include/ to include/${project_name} also fixed related paths
• Contributors: Peter Weissig

1.0.2 (2017-07-31)

• updated year within license
• updated version number
• added install target to CMakeLists.txt
• Contributors: Peter Weissig

1.0.0

• updated package.xml to format version 2
• updated doxygen.h and README.md
• updated CMakeLists.txt and package.xml added Eigen3
• updated git policies
• Initial commit
• Contributors: Peter Weissig