Quickly load variables from rosparam with good command line error checking.
This package enforces the philosophy that there should be no default parameters - everything must be defined by the user in yaml files (or launch files or where ever) otherwise your program should not run. This helps debug why something isn't working correctly - it will tell you exactly what rosparameters are missing.
Features:
- Outputs all loaded data into consule using ROS_DEBUG, so you won't see it unless you turn it on
- Namespaces all output within the
parent_name - Great for having each class have its own parameter namespace
- Helpful error messages if parameter is missing, explaining where it expects to find it
- Removes lots of repetitious code
- Supports datatypes that rosparam does not by default, such as std::size_t, ros::Duration, Eigen::Isometry3d, Eigen::Affine3d (deprecated)
- Supports loading std::vectors easily, and debugging that data
- Supports loading an entire list of bool parameters
This open source project was developed at PickNik Robotics. Need professional ROS development and consulting? Contact us at projects@picknik.ai for a free consultation.
Travis - Continuous Integration (Melodic)
Travis - Continuous Integration (Kinetic)
ROS Buildfarm - Bionic - Melodic Devel - Source Build
ROS Buildfarm - AMD64 Bionic - Melodic Devel - Debian Build
ROS Buildfarm - Xenial - Kinetic Devel - Source Build
ROS Buildfarm - AMD64 Xenial - Kinetic Devel - Debian Build
rosparam_shortcuts is currently only released for ROS Kinetic and Melodic. For other ROS releases, you may need to build rosparam_shortcuts from source.
sudo apt-get install ros-$ROS_DISTRO-rosparam-shortcuts
To build this package, git clone this repo into a catkin workspace and be sure to install necessary dependencies by running the following command in the root of your catkin workspace:
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
See Class Reference
See the file src/example.cpp for example code. To run:
roslaunch rosparam_shortcuts example.launch
Your yaml file would look something like the file config/example.yaml:
example:
control_rate: 100.0 # double
param1: 20 # int
param2: 30 # size_t
param3: 1 # ros::Duration
param4: [1, 1, 1, 3.14, 0, 0] # Eigen::Isometry3d - x, y, z, roll, pitch, yaw
param5: [1.1, 2.2, 3.3, 4.4] # std::vector<double>
param6: [2, 2, 2, 1, 0, 0, 0] # Eigen::Isometry3d - x, y, z, qw, qx, qy, qz
param7: [1, 1, 1, 3.14, 0, 0] # geometry_msgs::Pose - x, y, z, roll, pitch, yaw
param8: [2, 2, 2, 1, 0, 0, 0] # geometry_msgs::Pose - x, y, z, qw, qx, qy, qz
To run roslint, use the following command with catkin-tools:
catkin build --no-status --no-deps --this --make-args roslint
To run catkin lint, use the following command with catkin-tools:
catkin lint -W2
There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:
catkin run_tests --no-deps --this -i
Please send PRs for new helper functions, fixes, etc!
