[ros-users] private roslaunch parameters
Kevin Watts
watts at willowgarage.com
Wed Jul 14 19:53:23 UTC 2010
That's not the correct syntax for private parameters. Your example puts them
into the same namespace as the node, but not the private namespace.
You can find full details here:
http://www.ros.org/wiki/roslaunch/XML/param
For your code, it might look like:
<node pkg="something" ... >
<param name="port" value="/dev/ttyUSB0" />
</node>
On Wed, Jul 14, 2010 at 12:41 PM, Mike Purvis <mpurvis at clearpathrobotics.com
> wrote:
> Hi everyone,
>
> My current launch file structure is like so:
>
> <launch>
> <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" />
> ....
> </group>
> </launch>
>
> 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
> parameter.
>
> What am I doing wrong?
>
> Thanks.
>
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>
>
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