[ros-users] roscpp parameter remapping for nodehandles

Jeremy Leibs leibs at willowgarage.com
Thu Jul 8 18:16:05 UTC 2010

On Thu, Jul 8, 2010 at 11:12 AM, Jonathan Scholz
<jscholz at willowgarage.com> wrote:
> Hey all,
> We have a set of parameters that will all live inside a namespace that isn't
> known ahead of time.  We'd like to solve this problem by using a single
> remap in the launch file that changes a default nodehandle namespace to the
> correct string when it's constructed.
> E.G.
> <remap from="paramspace" to="our_task/params" />
> nh = ros::NodeHandle("paramspace")
> nh.get_param("local_param")
> we'd like the node handle to resolve "local_param" to
> "our_task/params/local_param".  Can remapping be made to work this way, or
> does it only handle remapping during a query.  If not, what better method
> exists in a case like this?

That is exactly how remapping is supposed work.  I believe the way
you've described using it is the recommended way to do exactly what
you want.  Do you have a situation where that's not the case?

> Thanks,
> --Jon Scholz
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