Repository Summary

Checkout URI https://github.com/peterweissig/ros_parameter.git
VCS Type git
VCS Version master
Last Updated 2018-09-04
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
parameter_pa 1.2.1

README

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:

Service Name Type Description
"~/substitutePath" parameter_pa/ParameterPaString Replaces each "$(find xyz)" with the corresponding path - this is similar to calling loadPath().
"~/substituteRessource" parameter_pa/ParameterPaString Resolves ressource name - this is similar to calling loadTopic().

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 (no change):

in_string out_string comment
ressource ressource relative name
ressource/ ressource/ relative name ending with slash
ns/ressource ns/ressource relative name with namespace
ns/ressource/ ns/ressource/ relative name with namespace ending with slash
/ressource /ressource absolute name
/ressource/ /ressource/ absolute name ending with slash
/ns/ressource /ns/ressource absolute name with namespace
/ns/ressource/ /ns/ressource/ absolute name with namespace ending with slash

Private ressource names (~/):

in_string out_string comment
~ /name/space/parameter_pa_node private namespace
~/ /name/space/parameter_pa_node/ private namespace ending with slash
~/ressource /name/space/parameter_pa_node/ressource private namespace with relative name
~/ns/ressource/ /name/space/parameter_pa_node/ns/ressource/ private namespace with relative name and relative namespace ending in slash
/abc/~/xyz Error no private namespace within absolute name allowed

Locale ressource names (./):

in_string out_string comment
. /name/space local namespace
./ /name/space/ local namespace ending with slash
./ressource/ /name/space/ressource/ local namespace with relative name ending in slash
./ns/ressource /name/space/ns/ressource local namespace with relative name and relative namespace
/abc/./xyz /abc/xyz local namespace within absolute name

Previous ressource names (../):

in_string out_string comment
.. /name previous namespace
../ /name/ previous namespace ending with slash
../ressource/ /name/ressource/ previous namespace with relative name ending in slash
../ns/ressource /name/ns/ressource previous namespace with relative name and relative namespace
/abc/def/../xyz /abc/xyz previous namespace within absolute name

Removal of double slashes:

in_string out_string comment
ressource// ressource/ relative name ending with slash
//ns/ressource /ns/ressource absolute name with namespace

More examples:

in_string out_string
~/abc/.//def/../ns//ressource/ /name/space/parameter_pa_node/abc/ns/ressource/
ns//.././..//ressource /name/space/ressource
../../../../../../ressource/ /ressource/

Example

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_        );

Source code at github:

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

ROS packages:

ros-indigo-parameter-pa ros-kinetic-parameter-pa ros-lunar-parameter-pa

ROS Build-Status and Documentation

ROS-Distribution Build-Status Documentation
Indigo Build Status docs.ros.org
Jade EOL May 2017 docs.ros.org
Kinetic Build Status docs.ros.org
Lunar Build Status docs.ros.org