No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.9.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version toolchain-2.9
Last Updated 2018-08-30
Dev Status MAINTAINED
Released RELEASED

Package Description

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT ROSParam

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters.

Design

This RTT service enables both setting/getting individual RTT properties of a given RTT component to/from the ROS parameter server, as well as setting/getting all properties of a component simultaneously. The operations map directly onto operations in the roscpp library, except they only store the retrieved values in RTT properties of the given component.

Using this service requires that the RTT properties of a given component match the names of their associated ROS parameters, modulo the namespace resolution policy (see below).

Usage

Service Interface

Constants (name resolution policies):

  • RELATIVE Relative resolution: "name" -> "name"
  • ABSOLUTE Absolute resolution: "name" -> "/name"
  • PRIVATE Private resolution: "name" -> "~name"
  • COMPONENT Component resolution: "name" -> "~COMPONENT_NAME/name"

Operations (getting/setting params)

Operations for getting all properties
  • getAll() or getAllComponentPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the COMPONENT namespace.
  • getAllRelative() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the relative namespace.
  • getAllAbsolute() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the absolute namespace.
  • getAllPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the node's private namespace.
Operations for setting all properties
  • setAll() or setAllComponentPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the COMPONENT's private namespace.
  • setAllRelative() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the relative namespace.
  • setAllAbsolute() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the absolute namespace.
  • setAllPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the node's private namespace.
Operations for getting single properties
  • getParam(ros_name, rtt_name) Get the ROS param ros_name and store it in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • get(name ,policy) Attempt to get the property named name (or populates the properties of a named RTT sub-service) from the ROS parameter namespace specified by policy.
  • getRelative(name)
  • getAbsolute(name)
  • getPrivate(name)
  • getComponentPrivate(name)
Operations for setting single properties
  • setParam(ros_name, rtt_name) Set the ROS param ros_name from the value in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • set(name, policy) Attempt to set the property named name (or stores the properties of a named RTT sub-service) in the ROS parameter namespace specified by policy.
  • setRelative(name)
  • setAbsolute(name)
  • setPrivate(name)
  • setComponentPrivate(name)

Scripting Interface

Components which were never meant to be used with ROS parameters can have their properties set from the ROS parameter server through the scripting interface:

// Import packages
import("rtt_ros")
ros.import("rtt_rosparam")

// Create your components ...
laodService("my_component","rosparam")

// Try to get all parameters from the component namespace "~my_component/..."
my_component.rosparam.getAll()

// Try to get the "robot_description" property from the absolute namespace "/robot_description"
my_component.rosparam.getAbsolute("robot_description")
// Alternatively:
my_component.rosparam.get("robot_description",my_component.rosparam.ABSOLUTE)

C++ Interface

If your component is designed to be used with ROS parameters, you can also easily access the rosparam service from C++ using an RTT ServiceRequester.

For example, a simple component which gets the "robot_description" ROS param from the global namespace ("/robot_description") and the "publish_period" ROS param from the node's private namespace ("~publish_period") would look something like the following:

// Include the service requester interface
#include <rtt_rosparam/rosparam.h>


class MyComponent : public RTT::TaskContext {
  private:
    // Storage for RTT properties
    std::string robot_description_;
    double publish_period_;

  public:
    MyComponent::MyComponent(std::string &name) : RTT::TaskContext(name) {
      // Add some properties
      this->addProperty("robot_description",robot_description_);
      this->addProperty("publish_period",publish_period_);
    }

    // ... 

    bool configureHook() {
      bool all_params_found = true;

      // Get the rosparam service requester
      boost::shared_ptr<rtt_rosparam::ROSParam> rosparam =
          this->getProvider<rtt_rosparam::ROSParam>("rosparam");

      // Get the parameters
      if(rosparam) {
        // Get the ROS parameter "/robot_description"
        all_params_found &= rosparam->getAbsolute("robot_description");

        // Get the ROS parameter "~publish_period"
        all_params_found &= rosparam->getPrivate("publish_priod");
      }

      return all_params_found;
    }

    // ...
}

See the API documentation for more information.

CHANGELOG

Changelog for package rtt_rosparam

2.9.1 (2017-11-16)

2.9.0 (2017-05-02)

  • rtt_rosparam: removed cmake_modules dependency and fixed export of eigen3 dependency
  • rtt_rosparam: fixed retrieval of Eigen::VectorXf properties from the parameter server
  • rtt_rosparam: added missing operations and operation callers
  • rtt_rosparam: moved ResolutionPolicy enum to the service requester header
  • rtt_rosparam: enabled Eigen-based operation callers in rosparam.h and added build_export_depend
  • sync service with new functions
  • add vectorXd/Xf methods
  • add Component private/relative/absolute methods
  • add template instead of macros
  • add missing comma
  • only ops supported types
  • add ros param getter and setters operations
  • add Component private/Relative resolution
  • Added individual changelogs and bumped versions to 2.9.0
  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau, Johannes Meyer

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_rosparam at answers.ros.org

Package Summary

Tags No category tags.
Version 2.9.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version toolchain-2.9
Last Updated 2018-08-30
Dev Status MAINTAINED
Released RELEASED

Package Description

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT ROSParam

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters.

Design

This RTT service enables both setting/getting individual RTT properties of a given RTT component to/from the ROS parameter server, as well as setting/getting all properties of a component simultaneously. The operations map directly onto operations in the roscpp library, except they only store the retrieved values in RTT properties of the given component.

Using this service requires that the RTT properties of a given component match the names of their associated ROS parameters, modulo the namespace resolution policy (see below).

Usage

Service Interface

Constants (name resolution policies):

  • RELATIVE Relative resolution: "name" -> "name"
  • ABSOLUTE Absolute resolution: "name" -> "/name"
  • PRIVATE Private resolution: "name" -> "~name"
  • COMPONENT Component resolution: "name" -> "~COMPONENT_NAME/name"

Operations (getting/setting params)

Operations for getting all properties
  • getAll() or getAllComponentPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the COMPONENT namespace.
  • getAllRelative() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the relative namespace.
  • getAllAbsolute() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the absolute namespace.
  • getAllPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the node's private namespace.
Operations for setting all properties
  • setAll() or setAllComponentPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the COMPONENT's private namespace.
  • setAllRelative() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the relative namespace.
  • setAllAbsolute() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the absolute namespace.
  • setAllPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the node's private namespace.
Operations for getting single properties
  • getParam(ros_name, rtt_name) Get the ROS param ros_name and store it in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • get(name ,policy) Attempt to get the property named name (or populates the properties of a named RTT sub-service) from the ROS parameter namespace specified by policy.
  • getRelative(name)
  • getAbsolute(name)
  • getPrivate(name)
  • getComponentPrivate(name)
Operations for setting single properties
  • setParam(ros_name, rtt_name) Set the ROS param ros_name from the value in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • set(name, policy) Attempt to set the property named name (or stores the properties of a named RTT sub-service) in the ROS parameter namespace specified by policy.
  • setRelative(name)
  • setAbsolute(name)
  • setPrivate(name)
  • setComponentPrivate(name)

Scripting Interface

Components which were never meant to be used with ROS parameters can have their properties set from the ROS parameter server through the scripting interface:

// Import packages
import("rtt_ros")
ros.import("rtt_rosparam")

// Create your components ...
laodService("my_component","rosparam")

// Try to get all parameters from the component namespace "~my_component/..."
my_component.rosparam.getAll()

// Try to get the "robot_description" property from the absolute namespace "/robot_description"
my_component.rosparam.getAbsolute("robot_description")
// Alternatively:
my_component.rosparam.get("robot_description",my_component.rosparam.ABSOLUTE)

C++ Interface

If your component is designed to be used with ROS parameters, you can also easily access the rosparam service from C++ using an RTT ServiceRequester.

For example, a simple component which gets the "robot_description" ROS param from the global namespace ("/robot_description") and the "publish_period" ROS param from the node's private namespace ("~publish_period") would look something like the following:

// Include the service requester interface
#include <rtt_rosparam/rosparam.h>


class MyComponent : public RTT::TaskContext {
  private:
    // Storage for RTT properties
    std::string robot_description_;
    double publish_period_;

  public:
    MyComponent::MyComponent(std::string &name) : RTT::TaskContext(name) {
      // Add some properties
      this->addProperty("robot_description",robot_description_);
      this->addProperty("publish_period",publish_period_);
    }

    // ... 

    bool configureHook() {
      bool all_params_found = true;

      // Get the rosparam service requester
      boost::shared_ptr<rtt_rosparam::ROSParam> rosparam =
          this->getProvider<rtt_rosparam::ROSParam>("rosparam");

      // Get the parameters
      if(rosparam) {
        // Get the ROS parameter "/robot_description"
        all_params_found &= rosparam->getAbsolute("robot_description");

        // Get the ROS parameter "~publish_period"
        all_params_found &= rosparam->getPrivate("publish_priod");
      }

      return all_params_found;
    }

    // ...
}

See the API documentation for more information.

CHANGELOG

Changelog for package rtt_rosparam

2.9.1 (2017-11-16)

2.9.0 (2017-05-02)

  • rtt_rosparam: removed cmake_modules dependency and fixed export of eigen3 dependency
  • rtt_rosparam: fixed retrieval of Eigen::VectorXf properties from the parameter server
  • rtt_rosparam: added missing operations and operation callers
  • rtt_rosparam: moved ResolutionPolicy enum to the service requester header
  • rtt_rosparam: enabled Eigen-based operation callers in rosparam.h and added build_export_depend
  • sync service with new functions
  • add vectorXd/Xf methods
  • add Component private/relative/absolute methods
  • add template instead of macros
  • add missing comma
  • only ops supported types
  • add ros param getter and setters operations
  • add Component private/Relative resolution
  • Added individual changelogs and bumped versions to 2.9.0
  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau, Johannes Meyer

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_rosparam at answers.ros.org

Package Summary

Tags No category tags.
Version 2.8.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-07-23
Dev Status MAINTAINED
Released RELEASED

Package Description

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT ROSParam

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters.

Design

This RTT service enables both setting/getting individual RTT properties of a given RTT component to/from the ROS parameter server, as well as setting/getting all properties of a component simultaneously. The operations map directly onto operations in the roscpp library, except they only store the retrieved values in RTT properties of the given component.

Using this service requires that the RTT properties of a given component match the names of their associated ROS parameters, modulo the namespace resolution policy (see below).

Usage

Service Interface

Constants (name resolution policies):

  • RELATIVE Relative resolution: "name" -> "name"
  • ABSOLUTE Absolute resolution: "name" -> "/name"
  • PRIVATE Private resolution: "name" -> "~name"
  • COMPONENT Component resolution: "name" -> "~COMPONENT_NAME/name"

Operations (getting/setting params)

Operations for getting all properties
  • getAll() or getAllComponentPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the COMPONENT namespace.
  • getAllRelative() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the relative namespace.
  • getAllAbsolute() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the absolute namespace.
  • getAllPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the node's private namespace.
Operations for setting all properties
  • setAll() or setAllComponentPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the COMPONENT's private namespace.
  • setAllRelative() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the relative namespace.
  • setAllAbsolute() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the absolute namespace.
  • setAllPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the node's private namespace.
Operations for getting single properties
  • getParam(ros_name, rtt_name) Get the ROS param ros_name and store it in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • get(name ,policy) Attempt to get the property named name (or populates the properties of a named RTT sub-service) from the ROS parameter namespace specified by policy.
  • getRelative(name)
  • getAbsolute(name)
  • getPrivate(name)
  • getComponentPrivate(name)
Operations for setting single properties
  • setParam(ros_name, rtt_name) Set the ROS param ros_name from the value in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • set(name, policy) Attempt to set the property named name (or stores the properties of a named RTT sub-service) in the ROS parameter namespace specified by policy.
  • setRelative(name)
  • setAbsolute(name)
  • setPrivate(name)
  • setComponentPrivate(name)

Scripting Interface

Components which were never meant to be used with ROS parameters can have their properties set from the ROS parameter server through the scripting interface:

// Import packages
import("rtt_ros")
ros.import("rtt_rosparam")

// Create your components ...
laodService("my_component","rosparam")

// Try to get all parameters from the component namespace "~my_component/..."
my_component.rosparam.getAll()

// Try to get the "robot_description" property from the absolute namespace "/robot_description"
my_component.rosparam.getAbsolute("robot_description")
// Alternatively:
my_component.rosparam.get("robot_description",my_component.rosparam.ABSOLUTE)

C++ Interface

If your component is designed to be used with ROS parameters, you can also easily access the rosparam service from C++ using an RTT ServiceRequester.

For example, a simple component which gets the "robot_description" ROS param from the global namespace ("/robot_description") and the "publish_period" ROS param from the node's private namespace ("~publish_period") would look something like the following:

// Include the service requester interface
#include <rtt_rosparam/rosparam.h>


class MyComponent : public RTT::TaskContext {
  private:
    // Storage for RTT properties
    std::string robot_description_;
    double publish_period_;

  public:
    MyComponent::MyComponent(std::string &name) : RTT::TaskContext(name) {
      // Add some properties
      this->addProperty("robot_description",robot_description_);
      this->addProperty("publish_period",publish_period_);
    }

    // ... 

    bool configureHook() {
      bool all_params_found = true;

      // Get the rosparam service requester
      boost::shared_ptr<rtt_rosparam::ROSParam> rosparam =
          this->getProvider<rtt_rosparam::ROSParam>("rosparam");

      // Get the parameters
      if(rosparam) {
        // Get the ROS parameter "/robot_description"
        all_params_found &= rosparam->getAbsolute("robot_description");

        // Get the ROS parameter "~publish_period"
        all_params_found &= rosparam->getPrivate("publish_priod");
      }

      return all_params_found;
    }

    // ...
}

See the API documentation for more information.

CHANGELOG

Changelog for package rtt_rosparam

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_rosparam at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 2.8.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version jade-devel
Last Updated 2018-07-23
Dev Status MAINTAINED
Released RELEASED

Package Description

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT ROSParam

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters.

Design

This RTT service enables both setting/getting individual RTT properties of a given RTT component to/from the ROS parameter server, as well as setting/getting all properties of a component simultaneously. The operations map directly onto operations in the roscpp library, except they only store the retrieved values in RTT properties of the given component.

Using this service requires that the RTT properties of a given component match the names of their associated ROS parameters, modulo the namespace resolution policy (see below).

Usage

Service Interface

Constants (name resolution policies):

  • RELATIVE Relative resolution: "name" -> "name"
  • ABSOLUTE Absolute resolution: "name" -> "/name"
  • PRIVATE Private resolution: "name" -> "~name"
  • COMPONENT Component resolution: "name" -> "~COMPONENT_NAME/name"

Operations (getting/setting params)

Operations for getting all properties
  • getAll() or getAllComponentPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the COMPONENT namespace.
  • getAllRelative() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the relative namespace.
  • getAllAbsolute() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the absolute namespace.
  • getAllPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the node's private namespace.
Operations for setting all properties
  • setAll() or setAllComponentPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the COMPONENT's private namespace.
  • setAllRelative() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the relative namespace.
  • setAllAbsolute() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the absolute namespace.
  • setAllPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the node's private namespace.
Operations for getting single properties
  • getParam(ros_name, rtt_name) Get the ROS param ros_name and store it in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • get(name ,policy) Attempt to get the property named name (or populates the properties of a named RTT sub-service) from the ROS parameter namespace specified by policy.
  • getRelative(name)
  • getAbsolute(name)
  • getPrivate(name)
  • getComponentPrivate(name)
Operations for setting single properties
  • setParam(ros_name, rtt_name) Set the ROS param ros_name from the value in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • set(name, policy) Attempt to set the property named name (or stores the properties of a named RTT sub-service) in the ROS parameter namespace specified by policy.
  • setRelative(name)
  • setAbsolute(name)
  • setPrivate(name)
  • setComponentPrivate(name)

Scripting Interface

Components which were never meant to be used with ROS parameters can have their properties set from the ROS parameter server through the scripting interface:

// Import packages
import("rtt_ros")
ros.import("rtt_rosparam")

// Create your components ...
laodService("my_component","rosparam")

// Try to get all parameters from the component namespace "~my_component/..."
my_component.rosparam.getAll()

// Try to get the "robot_description" property from the absolute namespace "/robot_description"
my_component.rosparam.getAbsolute("robot_description")
// Alternatively:
my_component.rosparam.get("robot_description",my_component.rosparam.ABSOLUTE)

C++ Interface

If your component is designed to be used with ROS parameters, you can also easily access the rosparam service from C++ using an RTT ServiceRequester.

For example, a simple component which gets the "robot_description" ROS param from the global namespace ("/robot_description") and the "publish_period" ROS param from the node's private namespace ("~publish_period") would look something like the following:

// Include the service requester interface
#include <rtt_rosparam/rosparam.h>


class MyComponent : public RTT::TaskContext {
  private:
    // Storage for RTT properties
    std::string robot_description_;
    double publish_period_;

  public:
    MyComponent::MyComponent(std::string &name) : RTT::TaskContext(name) {
      // Add some properties
      this->addProperty("robot_description",robot_description_);
      this->addProperty("publish_period",publish_period_);
    }

    // ... 

    bool configureHook() {
      bool all_params_found = true;

      // Get the rosparam service requester
      boost::shared_ptr<rtt_rosparam::ROSParam> rosparam =
          this->getProvider<rtt_rosparam::ROSParam>("rosparam");

      // Get the parameters
      if(rosparam) {
        // Get the ROS parameter "/robot_description"
        all_params_found &= rosparam->getAbsolute("robot_description");

        // Get the ROS parameter "~publish_period"
        all_params_found &= rosparam->getPrivate("publish_priod");
      }

      return all_params_found;
    }

    // ...
}

See the API documentation for more information.

CHANGELOG

Changelog for package rtt_rosparam

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

  • cast enum to int to avoid warning
  • Contributors: Antoine Hoarau

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_rosparam at answers.ros.org

Package Summary

Tags No category tags.
Version 2.7.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-07-21
Dev Status MAINTAINED
Released RELEASED

Package Description

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT ROSParam

This package provides an RTT service and service-requester for associating RTT component properties with ROS parameters.

Design

This RTT service enables both setting/getting individual RTT properties of a given RTT component to/from the ROS parameter server, as well as setting/getting all properties of a component simultaneously. The operations map directly onto operations in the roscpp library, except they only store the retrieved values in RTT properties of the given component.

Using this service requires that the RTT properties of a given component match the names of their associated ROS parameters, modulo the namespace resolution policy (see below).

Usage

Service Interface

Constants (name resolution policies):

  • RELATIVE Relative resolution: "name" -> "name"
  • ABSOLUTE Absolute resolution: "name" -> "/name"
  • PRIVATE Private resolution: "name" -> "~name"
  • COMPONENT Component resolution: "name" -> "~COMPONENT_NAME/name"

Operations (getting/setting params)

Operations for getting all properties
  • getAll() or getAllComponentPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the COMPONENT namespace.
  • getAllRelative() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the relative namespace.
  • getAllAbsolute() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the absolute namespace.
  • getAllPrivate() Attempt to get all properties of this component (and its sub-services) from the ROS parameter server in the node's private namespace.
Operations for setting all properties
  • setAll() or setAllComponentPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the COMPONENT's private namespace.
  • setAllRelative() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the relative namespace.
  • setAllAbsolute() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the absolute namespace.
  • setAllPrivate() Stores all properties of this component (and its sub-services) on the ROS parameter server from the similarly-named property in the node's private namespace.
Operations for getting single properties
  • getParam(ros_name, rtt_name) Get the ROS param ros_name and store it in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • get(name ,policy) Attempt to get the property named name (or populates the properties of a named RTT sub-service) from the ROS parameter namespace specified by policy.
  • getRelative(name)
  • getAbsolute(name)
  • getPrivate(name)
  • getComponentPrivate(name)
Operations for setting single properties
  • setParam(ros_name, rtt_name) Set the ROS param ros_name from the value in the RTT property rtt_name. Use leaders like ~ and / for private and absolute resolution.
  • set(name, policy) Attempt to set the property named name (or stores the properties of a named RTT sub-service) in the ROS parameter namespace specified by policy.
  • setRelative(name)
  • setAbsolute(name)
  • setPrivate(name)
  • setComponentPrivate(name)

Scripting Interface

Components which were never meant to be used with ROS parameters can have their properties set from the ROS parameter server through the scripting interface:

// Import packages
import("rtt_ros")
ros.import("rtt_rosparam")

// Create your components ...
laodService("my_component","rosparam")

// Try to get all parameters from the component namespace "~my_component/..."
my_component.rosparam.getAll()

// Try to get the "robot_description" property from the absolute namespace "/robot_description"
my_component.rosparam.getAbsolute("robot_description")
// Alternatively:
my_component.rosparam.get("robot_description",my_component.rosparam.ABSOLUTE)

C++ Interface

If your component is designed to be used with ROS parameters, you can also easily access the rosparam service from C++ using an RTT ServiceRequester.

For example, a simple component which gets the "robot_description" ROS param from the global namespace ("/robot_description") and the "publish_period" ROS param from the node's private namespace ("~publish_period") would look something like the following:

// Include the service requester interface
#include <rtt_rosparam/rosparam.h>


class MyComponent : public RTT::TaskContext {
  private:
    // Storage for RTT properties
    std::string robot_description_;
    double publish_period_;

  public:
    MyComponent::MyComponent(std::string &name) : RTT::TaskContext(name) {
      // Add some properties
      this->addProperty("robot_description",robot_description_);
      this->addProperty("publish_period",publish_period_);
    }

    // ... 

    bool configureHook() {
      bool all_params_found = true;

      // Get the rosparam service requester
      boost::shared_ptr<rtt_rosparam::ROSParam> rosparam =
          this->getProvider<rtt_rosparam::ROSParam>("rosparam");

      // Get the parameters
      if(rosparam) {
        // Get the ROS parameter "/robot_description"
        all_params_found &= rosparam->getAbsolute("robot_description");

        // Get the ROS parameter "~publish_period"
        all_params_found &= rosparam->getPrivate("publish_priod");
      }

      return all_params_found;
    }

    // ...
}

See the API documentation for more information.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_rosparam at answers.ros.org