rosbash_params package from rosbash_params reporosbash_params |
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/peci1/rosbash_params.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-05-30 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
rosbash_params
This Bash env-hook adds a “node-like” interface to your code written in Bash.
The main thing it adds is ROS-like command-line parameter parsing (_param:=value
), so that you can easily call the
Bash script from a launch file like
<node name="test" pkg="pkg" type="my_bash_script.sh"><param name="par" value="test" /></node>
.
Advantages
- Adds named parameters for Bash scripts.
_param:=value
- Position of the parameters doesn’t matter (though you can still easily pass positional arguments).
-
_param:=value positional_arg1 positional_arg2 _andrew:=martin
-
positional_arg1
andpositional_arg2
are accessible to the script as positional args as if there were no:=
param mappings.
-
-
- Super-easy parameter parsing.
-
rosbash_param var "param" "default"
.
-
- Unified representation of bool values:
-
true
,True
,yes
,on
and1
all translated to a single valueTrue
-
false
,false
,no
,off
and0
are all translated to a single valueFalse
- Notice: talking about exit-codes,
0
usually means success, and non-0
means failure. The unified bool representation works with the opposite meanings. So pay attention when setting bool parameters from exit-codes.
-
- Can also be used standalone outside ROS pacakges.
- You need just
rospy
ROS package. You don’t need a ROS master (roscore
) running if you don’t need to access ROS param server.
- You need just
Usage
Example script test_rosbash
#!/usr/bin/env bash
rosbash_init_node "node_name" "$@" # parse the command line arguments
rosbash_param mandatory_param "param_name" # if default value is not specified, the param is mandatory
rosbash_param optional_param "param2_name" "default_value" # optional param
rosbash_param bool_param1 "bool_name1" # bool param without default
rosbash_param bool_param2 "bool_name2" "True" # bool param with default
rosbash_param bool_param3 "bool_name3" "False" # bool param with default
echo "mandatory_param = ${mandatory_param}" # access the parsed parameter value
echo "optional_param = ${optional_param}" # access the parsed parameter value
echo "bool_param1 = ${bool_param1}" # access the parsed parameter value
echo "bool_param2 = ${bool_param2}" # access the parsed parameter value
echo "bool_param3 = ${bool_param3}" # access the parsed parameter value
echo "rosbash_unused_argv = ${rosbash_unused_argv[@]}" # all CLI args not parsed as a parameter
Example call:
$ ./test_rosbash _param_name:=1 _unparsed_param:=2 positional1 positional2 _bool_name1:=False
mandatory_param = 1
optional_param = default_value
bool_param1 = False
bool_param2 = True
bool_param3 = False
rosbash_unused_argv = _unparsed_param:=2 positional1 positional2
Example call with missing mandatory parameter:
$ ./test_rosbash positional1 positional2
Required parameter 'param_name' was not set.
Example call showing bool behavior
$ ./test_rosbash _param_name:=test _bool_name1:=1 _bool_name2:=0 _bool_name3:=on
mandatory_param = test
optional_param = default_value
bool_param1 = 1 # without default value, we cannot safely convert all `1`s to `True`
bool_param2 = False # with default value either `True` or `False`, we can convert `1` to `True` and `0` to `False`
bool_param3 = True # `on` without quotes is always converted to `True`
rosbash_unused_argv =
Example launch file
<launch>
<node name="test" pkg="test_pkg" type="test_rosbash">
<param name="param_name" value="test" />
<param name="param2_name" value="optional" />
<param name="bool_name1" value="off" />
</node>
</launch>
API
rosbash_init_node
Arguments
-
rosbash_node_name
Name of the “node”. If__name:=name
param mapping is present, it overrides this value. The node name specifies prefix of the parameters on the param server. - all other arguments are to be parsed as parameters (call with
"$@"
to pass all script args)
Global variables set by this function
-
rosbash_unused_params
: associative array of parsable params on CLI that were not used by any call torosbash_param
. Keys are parameter names, values are their values. -
rosbash_unused_argv
: all arguments to this function from which no parameter was parsed (as Bash array; usearg_string="${rosbash_unused_argv[@]}"
to convert to space-delimited string). -
_rosbash_params
: do not use, is private
rosbash_param
Be sure to call rosbash_init_node
before calling this function!
Arguments
-
result_var
The variable to store the result in (pass without dollar sign). -
param
Name of the parameter to read. -
default
[optional] The value to use when the parameter is not set. If no default is set, a missing parameter results in callingexit 1
orreturn 1
(depending on the value ofROS_BASH_PARAM_EXIT
). To correctly convert0
and1
toFalse
andTrue
, you have to specify a default valueTrue
orFalse
to bool params. If you don’t,0
and1
will not be converted to their logical values.
Environment variables
-
ROS_BASH_USE_PARAM_SERVER
(default true): Whether to look for parameter values to the ROS param server. Also automatically store the parsed param values to the parameter server. Set to"0"
to disable. -
ROS_BASH_USE_PARAM_VERBOSE
(default false): Set to any nonempty string but"0"
to enable verbose logging. -
ROS_BASH_PARAM_EXIT
(default true): If set to"0"
, do not callexit 1
when parameter is not found, instead callreturn 1
, so that the calling code controls what should happen when the parameter is not found.- e.g.
ROS_BASH_PARAM_EXIT=0 rosbash_param var "mandatory" || echo "Please, fill the mandatory param"
- e.g.
Other shells
As I don’t use any other shells, this package only supports Bash. But theoretically it can work in many other shells, so if you want them supported, feel free to send a pull request (not issues, I won’t write support for other shells myself).
Changelog for package rosbash_params
1.1.0 (2022-05-30)
- making parser python3 compatible
- Added website URL.
- Contributors: Dylan White, Martin Pecka
1.0.2 (2019-02-07)
- Fixed correct handling of whitespace in rosbash_unused_argv.
- Fixed white space in arguments
- Contributors: Martin Pecka
1.0.1 (2019-01-22)
- Removed console output in non-verbose mode.
- Contributors: Martin Pecka
1.0.0 (2019-01-22 15:32)
- Initial version.
- Contributors: Martin Pecka
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
movie_publisher |
Launch files
Messages
Services
Plugins
Recent questions tagged rosbash_params at Robotics Stack Exchange
rosbash_params package from rosbash_params reporosbash_params |
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/peci1/rosbash_params.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-05-30 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
rosbash_params
This Bash env-hook adds a “node-like” interface to your code written in Bash.
The main thing it adds is ROS-like command-line parameter parsing (_param:=value
), so that you can easily call the
Bash script from a launch file like
<node name="test" pkg="pkg" type="my_bash_script.sh"><param name="par" value="test" /></node>
.
Advantages
- Adds named parameters for Bash scripts.
_param:=value
- Position of the parameters doesn’t matter (though you can still easily pass positional arguments).
-
_param:=value positional_arg1 positional_arg2 _andrew:=martin
-
positional_arg1
andpositional_arg2
are accessible to the script as positional args as if there were no:=
param mappings.
-
-
- Super-easy parameter parsing.
-
rosbash_param var "param" "default"
.
-
- Unified representation of bool values:
-
true
,True
,yes
,on
and1
all translated to a single valueTrue
-
false
,false
,no
,off
and0
are all translated to a single valueFalse
- Notice: talking about exit-codes,
0
usually means success, and non-0
means failure. The unified bool representation works with the opposite meanings. So pay attention when setting bool parameters from exit-codes.
-
- Can also be used standalone outside ROS pacakges.
- You need just
rospy
ROS package. You don’t need a ROS master (roscore
) running if you don’t need to access ROS param server.
- You need just
Usage
Example script test_rosbash
#!/usr/bin/env bash
rosbash_init_node "node_name" "$@" # parse the command line arguments
rosbash_param mandatory_param "param_name" # if default value is not specified, the param is mandatory
rosbash_param optional_param "param2_name" "default_value" # optional param
rosbash_param bool_param1 "bool_name1" # bool param without default
rosbash_param bool_param2 "bool_name2" "True" # bool param with default
rosbash_param bool_param3 "bool_name3" "False" # bool param with default
echo "mandatory_param = ${mandatory_param}" # access the parsed parameter value
echo "optional_param = ${optional_param}" # access the parsed parameter value
echo "bool_param1 = ${bool_param1}" # access the parsed parameter value
echo "bool_param2 = ${bool_param2}" # access the parsed parameter value
echo "bool_param3 = ${bool_param3}" # access the parsed parameter value
echo "rosbash_unused_argv = ${rosbash_unused_argv[@]}" # all CLI args not parsed as a parameter
Example call:
$ ./test_rosbash _param_name:=1 _unparsed_param:=2 positional1 positional2 _bool_name1:=False
mandatory_param = 1
optional_param = default_value
bool_param1 = False
bool_param2 = True
bool_param3 = False
rosbash_unused_argv = _unparsed_param:=2 positional1 positional2
Example call with missing mandatory parameter:
$ ./test_rosbash positional1 positional2
Required parameter 'param_name' was not set.
Example call showing bool behavior
$ ./test_rosbash _param_name:=test _bool_name1:=1 _bool_name2:=0 _bool_name3:=on
mandatory_param = test
optional_param = default_value
bool_param1 = 1 # without default value, we cannot safely convert all `1`s to `True`
bool_param2 = False # with default value either `True` or `False`, we can convert `1` to `True` and `0` to `False`
bool_param3 = True # `on` without quotes is always converted to `True`
rosbash_unused_argv =
Example launch file
<launch>
<node name="test" pkg="test_pkg" type="test_rosbash">
<param name="param_name" value="test" />
<param name="param2_name" value="optional" />
<param name="bool_name1" value="off" />
</node>
</launch>
API
rosbash_init_node
Arguments
-
rosbash_node_name
Name of the “node”. If__name:=name
param mapping is present, it overrides this value. The node name specifies prefix of the parameters on the param server. - all other arguments are to be parsed as parameters (call with
"$@"
to pass all script args)
Global variables set by this function
-
rosbash_unused_params
: associative array of parsable params on CLI that were not used by any call torosbash_param
. Keys are parameter names, values are their values. -
rosbash_unused_argv
: all arguments to this function from which no parameter was parsed (as Bash array; usearg_string="${rosbash_unused_argv[@]}"
to convert to space-delimited string). -
_rosbash_params
: do not use, is private
rosbash_param
Be sure to call rosbash_init_node
before calling this function!
Arguments
-
result_var
The variable to store the result in (pass without dollar sign). -
param
Name of the parameter to read. -
default
[optional] The value to use when the parameter is not set. If no default is set, a missing parameter results in callingexit 1
orreturn 1
(depending on the value ofROS_BASH_PARAM_EXIT
). To correctly convert0
and1
toFalse
andTrue
, you have to specify a default valueTrue
orFalse
to bool params. If you don’t,0
and1
will not be converted to their logical values.
Environment variables
-
ROS_BASH_USE_PARAM_SERVER
(default true): Whether to look for parameter values to the ROS param server. Also automatically store the parsed param values to the parameter server. Set to"0"
to disable. -
ROS_BASH_USE_PARAM_VERBOSE
(default false): Set to any nonempty string but"0"
to enable verbose logging. -
ROS_BASH_PARAM_EXIT
(default true): If set to"0"
, do not callexit 1
when parameter is not found, instead callreturn 1
, so that the calling code controls what should happen when the parameter is not found.- e.g.
ROS_BASH_PARAM_EXIT=0 rosbash_param var "mandatory" || echo "Please, fill the mandatory param"
- e.g.
Other shells
As I don’t use any other shells, this package only supports Bash. But theoretically it can work in many other shells, so if you want them supported, feel free to send a pull request (not issues, I won’t write support for other shells myself).
Changelog for package rosbash_params
1.1.0 (2022-05-30)
- making parser python3 compatible
- Added website URL.
- Contributors: Dylan White, Martin Pecka
1.0.2 (2019-02-07)
- Fixed correct handling of whitespace in rosbash_unused_argv.
- Fixed white space in arguments
- Contributors: Martin Pecka
1.0.1 (2019-01-22)
- Removed console output in non-verbose mode.
- Contributors: Martin Pecka
1.0.0 (2019-01-22 15:32)
- Initial version.
- Contributors: Martin Pecka
Wiki Tutorials
Launch files
Messages
Services
Plugins
Recent questions tagged rosbash_params at Robotics Stack Exchange
rosbash_params package from rosbash_params reporosbash_params |
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/peci1/rosbash_params.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-05-30 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
rosbash_params
This Bash env-hook adds a “node-like” interface to your code written in Bash.
The main thing it adds is ROS-like command-line parameter parsing (_param:=value
), so that you can easily call the
Bash script from a launch file like
<node name="test" pkg="pkg" type="my_bash_script.sh"><param name="par" value="test" /></node>
.
Advantages
- Adds named parameters for Bash scripts.
_param:=value
- Position of the parameters doesn’t matter (though you can still easily pass positional arguments).
-
_param:=value positional_arg1 positional_arg2 _andrew:=martin
-
positional_arg1
andpositional_arg2
are accessible to the script as positional args as if there were no:=
param mappings.
-
-
- Super-easy parameter parsing.
-
rosbash_param var "param" "default"
.
-
- Unified representation of bool values:
-
true
,True
,yes
,on
and1
all translated to a single valueTrue
-
false
,false
,no
,off
and0
are all translated to a single valueFalse
- Notice: talking about exit-codes,
0
usually means success, and non-0
means failure. The unified bool representation works with the opposite meanings. So pay attention when setting bool parameters from exit-codes.
-
- Can also be used standalone outside ROS pacakges.
- You need just
rospy
ROS package. You don’t need a ROS master (roscore
) running if you don’t need to access ROS param server.
- You need just
Usage
Example script test_rosbash
#!/usr/bin/env bash
rosbash_init_node "node_name" "$@" # parse the command line arguments
rosbash_param mandatory_param "param_name" # if default value is not specified, the param is mandatory
rosbash_param optional_param "param2_name" "default_value" # optional param
rosbash_param bool_param1 "bool_name1" # bool param without default
rosbash_param bool_param2 "bool_name2" "True" # bool param with default
rosbash_param bool_param3 "bool_name3" "False" # bool param with default
echo "mandatory_param = ${mandatory_param}" # access the parsed parameter value
echo "optional_param = ${optional_param}" # access the parsed parameter value
echo "bool_param1 = ${bool_param1}" # access the parsed parameter value
echo "bool_param2 = ${bool_param2}" # access the parsed parameter value
echo "bool_param3 = ${bool_param3}" # access the parsed parameter value
echo "rosbash_unused_argv = ${rosbash_unused_argv[@]}" # all CLI args not parsed as a parameter
Example call:
$ ./test_rosbash _param_name:=1 _unparsed_param:=2 positional1 positional2 _bool_name1:=False
mandatory_param = 1
optional_param = default_value
bool_param1 = False
bool_param2 = True
bool_param3 = False
rosbash_unused_argv = _unparsed_param:=2 positional1 positional2
Example call with missing mandatory parameter:
$ ./test_rosbash positional1 positional2
Required parameter 'param_name' was not set.
Example call showing bool behavior
$ ./test_rosbash _param_name:=test _bool_name1:=1 _bool_name2:=0 _bool_name3:=on
mandatory_param = test
optional_param = default_value
bool_param1 = 1 # without default value, we cannot safely convert all `1`s to `True`
bool_param2 = False # with default value either `True` or `False`, we can convert `1` to `True` and `0` to `False`
bool_param3 = True # `on` without quotes is always converted to `True`
rosbash_unused_argv =
Example launch file
<launch>
<node name="test" pkg="test_pkg" type="test_rosbash">
<param name="param_name" value="test" />
<param name="param2_name" value="optional" />
<param name="bool_name1" value="off" />
</node>
</launch>
API
rosbash_init_node
Arguments
-
rosbash_node_name
Name of the “node”. If__name:=name
param mapping is present, it overrides this value. The node name specifies prefix of the parameters on the param server. - all other arguments are to be parsed as parameters (call with
"$@"
to pass all script args)
Global variables set by this function
-
rosbash_unused_params
: associative array of parsable params on CLI that were not used by any call torosbash_param
. Keys are parameter names, values are their values. -
rosbash_unused_argv
: all arguments to this function from which no parameter was parsed (as Bash array; usearg_string="${rosbash_unused_argv[@]}"
to convert to space-delimited string). -
_rosbash_params
: do not use, is private
rosbash_param
Be sure to call rosbash_init_node
before calling this function!
Arguments
-
result_var
The variable to store the result in (pass without dollar sign). -
param
Name of the parameter to read. -
default
[optional] The value to use when the parameter is not set. If no default is set, a missing parameter results in callingexit 1
orreturn 1
(depending on the value ofROS_BASH_PARAM_EXIT
). To correctly convert0
and1
toFalse
andTrue
, you have to specify a default valueTrue
orFalse
to bool params. If you don’t,0
and1
will not be converted to their logical values.
Environment variables
-
ROS_BASH_USE_PARAM_SERVER
(default true): Whether to look for parameter values to the ROS param server. Also automatically store the parsed param values to the parameter server. Set to"0"
to disable. -
ROS_BASH_USE_PARAM_VERBOSE
(default false): Set to any nonempty string but"0"
to enable verbose logging. -
ROS_BASH_PARAM_EXIT
(default true): If set to"0"
, do not callexit 1
when parameter is not found, instead callreturn 1
, so that the calling code controls what should happen when the parameter is not found.- e.g.
ROS_BASH_PARAM_EXIT=0 rosbash_param var "mandatory" || echo "Please, fill the mandatory param"
- e.g.
Other shells
As I don’t use any other shells, this package only supports Bash. But theoretically it can work in many other shells, so if you want them supported, feel free to send a pull request (not issues, I won’t write support for other shells myself).
Changelog for package rosbash_params
1.1.0 (2022-05-30)
- making parser python3 compatible
- Added website URL.
- Contributors: Dylan White, Martin Pecka
1.0.2 (2019-02-07)
- Fixed correct handling of whitespace in rosbash_unused_argv.
- Fixed white space in arguments
- Contributors: Martin Pecka
1.0.1 (2019-01-22)
- Removed console output in non-verbose mode.
- Contributors: Martin Pecka
1.0.0 (2019-01-22 15:32)
- Initial version.
- Contributors: Martin Pecka
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
movie_publisher |
Launch files
Messages
Services
Plugins
Recent questions tagged rosbash_params at Robotics Stack Exchange
rosbash_params package from rosbash_params reporosbash_params |
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/peci1/rosbash_params.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-05-30 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
rosbash_params
This Bash env-hook adds a “node-like” interface to your code written in Bash.
The main thing it adds is ROS-like command-line parameter parsing (_param:=value
), so that you can easily call the
Bash script from a launch file like
<node name="test" pkg="pkg" type="my_bash_script.sh"><param name="par" value="test" /></node>
.
Advantages
- Adds named parameters for Bash scripts.
_param:=value
- Position of the parameters doesn’t matter (though you can still easily pass positional arguments).
-
_param:=value positional_arg1 positional_arg2 _andrew:=martin
-
positional_arg1
andpositional_arg2
are accessible to the script as positional args as if there were no:=
param mappings.
-
-
- Super-easy parameter parsing.
-
rosbash_param var "param" "default"
.
-
- Unified representation of bool values:
-
true
,True
,yes
,on
and1
all translated to a single valueTrue
-
false
,false
,no
,off
and0
are all translated to a single valueFalse
- Notice: talking about exit-codes,
0
usually means success, and non-0
means failure. The unified bool representation works with the opposite meanings. So pay attention when setting bool parameters from exit-codes.
-
- Can also be used standalone outside ROS pacakges.
- You need just
rospy
ROS package. You don’t need a ROS master (roscore
) running if you don’t need to access ROS param server.
- You need just
Usage
Example script test_rosbash
#!/usr/bin/env bash
rosbash_init_node "node_name" "$@" # parse the command line arguments
rosbash_param mandatory_param "param_name" # if default value is not specified, the param is mandatory
rosbash_param optional_param "param2_name" "default_value" # optional param
rosbash_param bool_param1 "bool_name1" # bool param without default
rosbash_param bool_param2 "bool_name2" "True" # bool param with default
rosbash_param bool_param3 "bool_name3" "False" # bool param with default
echo "mandatory_param = ${mandatory_param}" # access the parsed parameter value
echo "optional_param = ${optional_param}" # access the parsed parameter value
echo "bool_param1 = ${bool_param1}" # access the parsed parameter value
echo "bool_param2 = ${bool_param2}" # access the parsed parameter value
echo "bool_param3 = ${bool_param3}" # access the parsed parameter value
echo "rosbash_unused_argv = ${rosbash_unused_argv[@]}" # all CLI args not parsed as a parameter
Example call:
$ ./test_rosbash _param_name:=1 _unparsed_param:=2 positional1 positional2 _bool_name1:=False
mandatory_param = 1
optional_param = default_value
bool_param1 = False
bool_param2 = True
bool_param3 = False
rosbash_unused_argv = _unparsed_param:=2 positional1 positional2
Example call with missing mandatory parameter:
$ ./test_rosbash positional1 positional2
Required parameter 'param_name' was not set.
Example call showing bool behavior
$ ./test_rosbash _param_name:=test _bool_name1:=1 _bool_name2:=0 _bool_name3:=on
mandatory_param = test
optional_param = default_value
bool_param1 = 1 # without default value, we cannot safely convert all `1`s to `True`
bool_param2 = False # with default value either `True` or `False`, we can convert `1` to `True` and `0` to `False`
bool_param3 = True # `on` without quotes is always converted to `True`
rosbash_unused_argv =
Example launch file
<launch>
<node name="test" pkg="test_pkg" type="test_rosbash">
<param name="param_name" value="test" />
<param name="param2_name" value="optional" />
<param name="bool_name1" value="off" />
</node>
</launch>
API
rosbash_init_node
Arguments
-
rosbash_node_name
Name of the “node”. If__name:=name
param mapping is present, it overrides this value. The node name specifies prefix of the parameters on the param server. - all other arguments are to be parsed as parameters (call with
"$@"
to pass all script args)
Global variables set by this function
-
rosbash_unused_params
: associative array of parsable params on CLI that were not used by any call torosbash_param
. Keys are parameter names, values are their values. -
rosbash_unused_argv
: all arguments to this function from which no parameter was parsed (as Bash array; usearg_string="${rosbash_unused_argv[@]}"
to convert to space-delimited string). -
_rosbash_params
: do not use, is private
rosbash_param
Be sure to call rosbash_init_node
before calling this function!
Arguments
-
result_var
The variable to store the result in (pass without dollar sign). -
param
Name of the parameter to read. -
default
[optional] The value to use when the parameter is not set. If no default is set, a missing parameter results in callingexit 1
orreturn 1
(depending on the value ofROS_BASH_PARAM_EXIT
). To correctly convert0
and1
toFalse
andTrue
, you have to specify a default valueTrue
orFalse
to bool params. If you don’t,0
and1
will not be converted to their logical values.
Environment variables
-
ROS_BASH_USE_PARAM_SERVER
(default true): Whether to look for parameter values to the ROS param server. Also automatically store the parsed param values to the parameter server. Set to"0"
to disable. -
ROS_BASH_USE_PARAM_VERBOSE
(default false): Set to any nonempty string but"0"
to enable verbose logging. -
ROS_BASH_PARAM_EXIT
(default true): If set to"0"
, do not callexit 1
when parameter is not found, instead callreturn 1
, so that the calling code controls what should happen when the parameter is not found.- e.g.
ROS_BASH_PARAM_EXIT=0 rosbash_param var "mandatory" || echo "Please, fill the mandatory param"
- e.g.
Other shells
As I don’t use any other shells, this package only supports Bash. But theoretically it can work in many other shells, so if you want them supported, feel free to send a pull request (not issues, I won’t write support for other shells myself).
Changelog for package rosbash_params
1.1.0 (2022-05-30)
- making parser python3 compatible
- Added website URL.
- Contributors: Dylan White, Martin Pecka
1.0.2 (2019-02-07)
- Fixed correct handling of whitespace in rosbash_unused_argv.
- Fixed white space in arguments
- Contributors: Martin Pecka
1.0.1 (2019-01-22)
- Removed console output in non-verbose mode.
- Contributors: Martin Pecka
1.0.0 (2019-01-22 15:32)
- Initial version.
- Contributors: Martin Pecka
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
movie_publisher |
Launch files
Messages
Services
Plugins
Recent questions tagged rosbash_params at Robotics Stack Exchange
rosbash_params package from rosbash_params reporosbash_params |
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/peci1/rosbash_params.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-05-30 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
rosbash_params
This Bash env-hook adds a “node-like” interface to your code written in Bash.
The main thing it adds is ROS-like command-line parameter parsing (_param:=value
), so that you can easily call the
Bash script from a launch file like
<node name="test" pkg="pkg" type="my_bash_script.sh"><param name="par" value="test" /></node>
.
Advantages
- Adds named parameters for Bash scripts.
_param:=value
- Position of the parameters doesn’t matter (though you can still easily pass positional arguments).
-
_param:=value positional_arg1 positional_arg2 _andrew:=martin
-
positional_arg1
andpositional_arg2
are accessible to the script as positional args as if there were no:=
param mappings.
-
-
- Super-easy parameter parsing.
-
rosbash_param var "param" "default"
.
-
- Unified representation of bool values:
-
true
,True
,yes
,on
and1
all translated to a single valueTrue
-
false
,false
,no
,off
and0
are all translated to a single valueFalse
- Notice: talking about exit-codes,
0
usually means success, and non-0
means failure. The unified bool representation works with the opposite meanings. So pay attention when setting bool parameters from exit-codes.
-
- Can also be used standalone outside ROS pacakges.
- You need just
rospy
ROS package. You don’t need a ROS master (roscore
) running if you don’t need to access ROS param server.
- You need just
Usage
Example script test_rosbash
#!/usr/bin/env bash
rosbash_init_node "node_name" "$@" # parse the command line arguments
rosbash_param mandatory_param "param_name" # if default value is not specified, the param is mandatory
rosbash_param optional_param "param2_name" "default_value" # optional param
rosbash_param bool_param1 "bool_name1" # bool param without default
rosbash_param bool_param2 "bool_name2" "True" # bool param with default
rosbash_param bool_param3 "bool_name3" "False" # bool param with default
echo "mandatory_param = ${mandatory_param}" # access the parsed parameter value
echo "optional_param = ${optional_param}" # access the parsed parameter value
echo "bool_param1 = ${bool_param1}" # access the parsed parameter value
echo "bool_param2 = ${bool_param2}" # access the parsed parameter value
echo "bool_param3 = ${bool_param3}" # access the parsed parameter value
echo "rosbash_unused_argv = ${rosbash_unused_argv[@]}" # all CLI args not parsed as a parameter
Example call:
$ ./test_rosbash _param_name:=1 _unparsed_param:=2 positional1 positional2 _bool_name1:=False
mandatory_param = 1
optional_param = default_value
bool_param1 = False
bool_param2 = True
bool_param3 = False
rosbash_unused_argv = _unparsed_param:=2 positional1 positional2
Example call with missing mandatory parameter:
$ ./test_rosbash positional1 positional2
Required parameter 'param_name' was not set.
Example call showing bool behavior
$ ./test_rosbash _param_name:=test _bool_name1:=1 _bool_name2:=0 _bool_name3:=on
mandatory_param = test
optional_param = default_value
bool_param1 = 1 # without default value, we cannot safely convert all `1`s to `True`
bool_param2 = False # with default value either `True` or `False`, we can convert `1` to `True` and `0` to `False`
bool_param3 = True # `on` without quotes is always converted to `True`
rosbash_unused_argv =
Example launch file
<launch>
<node name="test" pkg="test_pkg" type="test_rosbash">
<param name="param_name" value="test" />
<param name="param2_name" value="optional" />
<param name="bool_name1" value="off" />
</node>
</launch>
API
rosbash_init_node
Arguments
-
rosbash_node_name
Name of the “node”. If__name:=name
param mapping is present, it overrides this value. The node name specifies prefix of the parameters on the param server. - all other arguments are to be parsed as parameters (call with
"$@"
to pass all script args)
Global variables set by this function
-
rosbash_unused_params
: associative array of parsable params on CLI that were not used by any call torosbash_param
. Keys are parameter names, values are their values. -
rosbash_unused_argv
: all arguments to this function from which no parameter was parsed (as Bash array; usearg_string="${rosbash_unused_argv[@]}"
to convert to space-delimited string). -
_rosbash_params
: do not use, is private
rosbash_param
Be sure to call rosbash_init_node
before calling this function!
Arguments
-
result_var
The variable to store the result in (pass without dollar sign). -
param
Name of the parameter to read. -
default
[optional] The value to use when the parameter is not set. If no default is set, a missing parameter results in callingexit 1
orreturn 1
(depending on the value ofROS_BASH_PARAM_EXIT
). To correctly convert0
and1
toFalse
andTrue
, you have to specify a default valueTrue
orFalse
to bool params. If you don’t,0
and1
will not be converted to their logical values.
Environment variables
-
ROS_BASH_USE_PARAM_SERVER
(default true): Whether to look for parameter values to the ROS param server. Also automatically store the parsed param values to the parameter server. Set to"0"
to disable. -
ROS_BASH_USE_PARAM_VERBOSE
(default false): Set to any nonempty string but"0"
to enable verbose logging. -
ROS_BASH_PARAM_EXIT
(default true): If set to"0"
, do not callexit 1
when parameter is not found, instead callreturn 1
, so that the calling code controls what should happen when the parameter is not found.- e.g.
ROS_BASH_PARAM_EXIT=0 rosbash_param var "mandatory" || echo "Please, fill the mandatory param"
- e.g.
Other shells
As I don’t use any other shells, this package only supports Bash. But theoretically it can work in many other shells, so if you want them supported, feel free to send a pull request (not issues, I won’t write support for other shells myself).
Changelog for package rosbash_params
1.1.0 (2022-05-30)
- making parser python3 compatible
- Added website URL.
- Contributors: Dylan White, Martin Pecka
1.0.2 (2019-02-07)
- Fixed correct handling of whitespace in rosbash_unused_argv.
- Fixed white space in arguments
- Contributors: Martin Pecka
1.0.1 (2019-01-22)
- Removed console output in non-verbose mode.
- Contributors: Martin Pecka
1.0.0 (2019-01-22 15:32)
- Initial version.
- Contributors: Martin Pecka
Wiki Tutorials
Dependant Packages
Name | Deps |
---|---|
movie_publisher |