[ros-users] private roslaunch parameters

Mike Purvis mpurvis at clearpathrobotics.com
Wed Jul 14 19:41:49 UTC 2010

Hi everyone,

My current launch file structure is like so:

  <env name="PYTHONPATH" value="$(env PYTHONPATH)" />
  <group ns="clearpath/robots/$(optenv ID default)" clear_params="true">
    <param name="port" value="$(optenv CPR_SERIAL_PORT /dev/ttyUSB0)" />
    <param name="turn_radius" value="0.4" />


    <node pkg="clearpath_horizon" type="horizon.py" name="$(anon horizon)"
output="screen" />
    <node pkg="clearpath_2dnav" type="simple.py" name="$(anon nav)"
output="screen" />

And then inside of horizon.py, I am able to access the parameter
with rospy.get_param('port'). However, that parameter is really not relevant
to any node except horizon.py. From my reading of the documentation, I
should be able to make it private by putting the <param> tag inside the
relevant node tag, and then calling it with rospy.get_param('~port').
However, this doesn't seem to work---I consistently just get the default

What am I doing wrong?

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