ROS Param Shortcuts

Quickly load variables from rosparam with good command line error checking.

This package enforces the philosophy that there should be no default parameters - everything must be defined by the user in yaml files (or launch files or where ever) otherwise your program should not run. This helps debug why something isn’t working correctly - it will tell you exactly what rosparameters are missing.

Features:

• Outputs all loaded data into consule using ROS_DEBUG, so you won’t see it unless you turn it on
• Namespaces all output within the parent_name
• Great for having each class have its own parameter namespace
• Helpful error messages if parameter is missing, explaining where it expects to find it
• Removes lots of repetitious code
• Supports datatypes that rosparam does not by default, such as std::size_t, ros::Duration, Eigen::Isometry3d, Eigen::Affine3d (deprecated)
• Supports loading std::vectors easily, and debugging that data
• Supports loading an entire list of bool parameters

This open source project was developed at PickNik Robotics. Need professional ROS development and consulting? Contact us at projects@picknik.ai for a free consultation.

Status:

• Travis - Continuous Integration (Melodic)
• Travis - Continuous Integration (Kinetic)
• ROS Buildfarm - Bionic - Melodic Devel - Source Build
• ROS Buildfarm - AMD64 Bionic - Melodic Devel - Debian Build
• ROS Buildfarm - Xenial - Kinetic Devel - Source Build
• ROS Buildfarm - AMD64 Xenial - Kinetic Devel - Debian Build

  Install

Ubuntu Debian

rosparam_shortcuts is currently only released for ROS Kinetic and Melodic. For other ROS releases, you may need to build rosparam_shortcuts from source.

sudo apt-get install ros-$ROS_DISTRO-rosparam-shortcuts

Build from Source

To build this package, git clone this repo into a catkin workspace and be sure to install necessary dependencies by running the following command in the root of your catkin workspace:

rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Code API

See Class Reference

Usage / Demo

See the file src/example.cpp for example code. To run:

roslaunch rosparam_shortcuts example.launch

Your yaml file would look something like the file config/example.yaml:

example:
  control_rate: 100.0 # double
  param1: 20 # int
  param2: 30 # size_t
  param3: 1 # ros::Duration
  param4: [1, 1, 1, 3.14, 0, 0] # Eigen::Isometry3d - x, y, z, roll, pitch, yaw
  param5: [1.1, 2.2, 3.3, 4.4] # std::vector<double>
  param6: [2, 2, 2, 1, 0, 0, 0] # Eigen::Isometry3d - x, y, z, qw, qx, qy, qz
  param7: [1, 1, 1, 3.14, 0, 0] # geometry_msgs::Pose - x, y, z, roll, pitch, yaw
  param8: [2, 2, 2, 1, 0, 0, 0] # geometry_msgs::Pose - x, y, z, qw, qx, qy, qz

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!

Changelog for package rosparam_shortcuts

0.3.3 (2019-09-24)

• Switch run_depend to eigen_conversions. (#12) Eigen is header-only (so no run_depend needed), but eigen_conversions has a library that needs to be pulled in at runtime. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
• Contributors: Chris Lalancette

0.3.2 (2019-09-18)

• Update to new ros_buildfarm workspace directory
• Add get() for geometry_msgs::Pose
• Contributors: Henning Kayser

0.3.1 (2019-04-12)

• removing deprecated functions because catkin can't tell the difference between affine3d and isometry3d (#9)
• Travis badge fixup (#8)
  • fixing travis and build tags
  • updating install instructions
  • adding melodic ci
• Contributors: Mike Lautman

0.3.0 (2019-04-10)

• Deprecate Affine3d transforms and support Isometry3d (#7)
• Merge pull request #4 from PickNikRobotics/kinetic-devel-eigen-additions adding support for loading trajectories and loading quaternions
• removing EigenSTL
• adding support for loading trajectories and loading quaternions
• Merge pull request #3 from gavanderhoorn/patch-1 Fix minor typo in API doc link.
• Fix minor typo in API doc link.
• Contributors: Dave Coleman, G.A. vd. Hoorn, Henning Kayser, mike

0.2.1 (2016-09-28)

• Fix Eigen3 include
• Fix C++11 compiling method
• Update Travis for Kinetic
• Updated README
• Contributors: Dave Coleman

0.2.0 (2016-06-29)

• Upgrade to Eigen3 per ROS Kinetic requirements
• Converted to C++11 for ROS Kinetic
• Removed deprecated functions
• Improve documentation
• fix typo
• Added loading a vector to example
• Contributors: Dave Coleman, Sammy Pfeiffer

0.1.1 (2015-12-18)

• Fixed CMake build
• Ran roslint
• Ran catkin lint
• Updated example
• Contributors: Dave Coleman

0.1.0 (2015-12-17)

• Deprecated long named functions in favor of short named functions
• Removed redundant unsigned int function
• Contributors: Dave Coleman

0.0.7 (2015-12-13)

• Added shortcut version of functions
• Fix install
• Contributors: Dave Coleman

0.0.6 (2015-12-10)

• Added example code
• Contributors: Dave Coleman

0.0.5 (2015-12-09)

• Attempting to fix Eigen
• Fix missing dependency
• Contributors: Dave Coleman

0.0.4 (2015-12-07)

• Attempt to fix Eigen include dir
• Contributors: Dave Coleman

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