ros2 rclcpp parameter

wouldn't it be better if i could accept it in condition that the parameter value is clamped to 100.0? A) Is there a way to check if a parameter exists that I'm missing B) If not, why not? Run the simplest ros2 (C++) program (and fail) Inspecting the simplest ROS (C++) program Distributed Logging with rosconsole Play Around Conclusion Installing ROS2 (if it hasn't already been installed) For Ubuntu Linux, you can follow these instructions, and for other platforms, see the main ros2 installation instructions. I can declare and get parameters from YAML for 'ros_st' and 'ros_i' easily by: this->declare_parameter("ros_st", "Hello"); this->declare_parameter("ros_i", 0); this->get_parameter("ros_st", _st); this->get_parameter("ros_i", _n); But, I have no idea how to declare 'ros_vec' and get the parameters. rcl_interfaces::msg::ListParametersResult rclcpp::Node::list_parameters. Return a vector of parameter types, one for each of the given names. The order of the callback is the reverse from the registration order. https://github.com/ros2/rclcpp/blob/r Ah, so when you do 'auto foo', is 'foo' of the std::vector type? I'm not following what feature you are looking for here. The callback to be called when the value for a parameter is about to be set. Parameters are set in the order they are given within the input vector. Given a list of parameter names, it will request an update of the values subject to validation of the values. Use get_effective_namespace() to get the full namespace used by entities. Here is a simple way to declare and get a vector of integers in Galactic: This shows how to declare the parameter. See also: Declare and initialize several parameters with the same namespace and type. Get the value of a parameter by the given name, and return true if it was set. Some constraints like read_only are enforced before the callback is called. If undeclared parameters are allowed, then a default initialized descriptor will be returned for the undeclared parameter's descriptor. Also, besides for declaring the parameter, you're saying that it also tries to get the parameter, and if it can't find it, it will default it to std::vector({1, 2, 3})? A) Is there a way to check if a parameter exists that I'm missing arguentsurdfrobot_description, urdfjoint_state_publisher_gui, rvizurdf.rvizrvizrviz, TFRobotModelrvizlaunchrviz, ate_publisher_node) ld.add_action(rviz2_node) return ld, 1.1:1 2.VIPC, Tetris.h Tetris.cpp Block.h Block.cpp Map.h Map.cppcppkey.cpp, , Note, this method cannot return a const reference, because extending the lifetime of a temporary only works recursively with member initializers, and cannot be extended to members of a class returned. Assuming argument is name of URDF file.This backwards compatibility fallback will be removed in the future. Resetting or letting the smart pointer go out of scope unregisters the callback. rclcpp This repository contains the source code for the ROS Client Library for C++ package, included with a standard install of any ROS 2 distro. In this case, how do you provide feedback that the parameter has been adjusted (e.g. Return the number of subscribers who have created a subscription for a given topic. Here's the pull request: https://github.com/ros2/rclcpp/pull/495 , it was originally started by Shane, but I'm trying to resurrect it right now. [rclcpp] How do you specify Subscriber queue_size? if any parameter has not been declared and undeclared parameters are not allowed. That means that we'd have to change the signature of the parameter callbacks again. In this ROS2 tutorial I will show you how to use an rclcpp parameter callback, so you can dynamically change parameters' values while a node is alive. Changelog for package rclcpp 17.1.0 (2022-11-02) MultiThreadExecutor number of threads is at least 2+ in default. From reading a long issue involving some 2 booleans with undeclared_auto_param_something_something and another boolean I just got that you always should declare your params, but this example doesn't do that? What I would consider doing here is the following: I think the above should give you the behavior you want. Wouldn't it be better if i could accept it in condition that the parameter type to be casted to double value?. the namespace of the node associated with the name. void rclcpp::Node::remove_on_set_parameters_callback. Set Parameters. or what if i accidently set the parameter using an integer value of 50? Set the given parameters, one at a time, and then return result of each set action. as_bool () bool rclcpp::Parameter::as_bool ( ) const as_int () int64_t rclcpp::Parameter::as_int ( ) const Please start posting anonymously - your entry will be published after you log in or create a new account. Like get_parameters(), this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception if any of the requested parameters have not been declared and undeclared parameters are not allowed. rclcpp provides the standard C++ API for interacting with ROS 2. Maybe I can add an "exists" or "has" or "is_declared" like function at the same time. More Node is the single point of entry for creating publishers and subscribers. Like set_parameter and set_parameters, this method may throw an rclcpp::exceptions::ParameterNotDeclaredException exception if any of the parameters to be set have not first been declared. if the parameter was create as read_only (immutable). Get a clock as a const shared pointer which is managed by the node. In ROS 2, this interface had to become more complex to cope with a larger set of configuration options, an ambiguity in remapping rules and parameter assignment syntax (as a result of the leading underscore name convention for hidden resources), a one-to-many relationship between executables and nodes, to name a few. We may not have that API yet, but we can certainly add it or whatever the appropriate alternative is. If the type of the default value, and therefore also the type of return value, differs from the initial value provided in the node options, then a rclcpp::exceptions::InvalidParameterTypeException may be thrown. Behaves like set_parameter, except that it sets multiple parameters, failing all if just one of the parameters are unsuccessfully set. As for setting the range between 0 and 100.0; to me, it seems non-sensical to set a range, and then to ignore that range and clamp it. This method, if successful, will result in any callback registered with add_on_set_parameters_callback to be called. Note also that the fully qualified node name is unaffected by a sub-namespace. This will result in a parameter event indicating that the parameter was deleted. The ParameterVarient includes ARRAY types natively, The get_value method on the variant will return the vector value. If undeclared parameters are allowed, then the parameter is implicitly declared with the default parameter meta data before being set. Part of that is an explicit declare step for parameters, which will make "exists" make more sense. if the requested type does not match the value of the parameter which is stored. We don't have it in the demos but there are tests covering it you can use as an example, here. If undeclared parameters are allowed, then the default type rclcpp::ParameterType::PARAMETER_NOT_SET will be returned. Return the Node's internal NodeTopicsInterface implementation. Add a new callback type for rclcpp::Node::add_on_set_parameter_callback() with the type of rcl_interfaces::msg::SetParametersResult callback(std::vector ¶meters). How ROS 2 params work ROS 2 nodes first declare the parameters they can accept (1), then read the parameter values passed to them during startup - via the command line interface (2) or a YAML configuration file (3) - to determine their behavior. Furthermore, a sub-node may be used to create additional sub-node's, in which case the sub-namespace passed to this function will further extend the sub-namespace of the existing sub-node. sw_urdf_exporterurdf packageurdflink.STLsolidworks, jointlinkURDF(), RvizRviz Set the given parameters, all at one time, and then aggregate result. Return a graph event, which will be set anytime a graph change occurs. link Comments Is there a way to achieve this by just using this->declare_parameter<float> ("foo", 15.0); this->get_parameter ("foo", foo); syntax? This may be done by using this method, create_sub_node(). Also like get_parameters(), if undeclared parameters are allowed and the parameter has not been declared, then the corresponding rclcpp::Parameter will be default initialized and therefore have the type rclcpp::ParameterType::PARAMETER_NOT_SET. If ignore_overrides is true, all the overrides of the parameters declared by the function call will be ignored. The names which are used as keys in the values map have the prefix removed. Currently the rclcpp::Node::add_on_set_parameter_callback() only support callback of rcl_interfaces::msg::SetParametersResult callback(const std::vector ¶meters). if the parameter has not been declared and undeclared parameters are not allowed. Return the topic endpoint information about publishers on a given topic. ( rclcpp callback parameter version for Cpp) Initialization Starter code What happens if you change a parameter with no callback Add an rclpy parameter callback The code Testing - get all modified params and print them Update class attributes in callback Remove parameters callback Process data inside the rclpy callback Execute an action Returns current time from the time source specified by clock_type. I would add clipping what makes sure the parameter will be set in the rage of 0.0 to 100.0 in the setter. to your account. If no parameter_descriptor is given, then the default values from the message definition will be used, e.g. If you want to do more the descriptions are valuable. topic_name may be a relative, private, or fully qualified topic name. The map contains default values for parameters. The next bit depends on how the hardware behaves. It worked, but kinda be a tricky solution and a bad habit as the parameters was implicitly stated to be constant. the only things that could be done during on_set_parameter_callback is rejecting an invalid parameter. Otherwise, the parameter names and values will be stored in the map and true will be returned to indicate "values" was mutated. Already on GitHub? Could you copy the code? The topic for this publisher to publish on. I don't think anyone is currently working on this, so help here would be appreciated. rcl_interfaces::msg::ParameterDescriptor rclcpp::Node::describe_parameter, if the number of described parameters is more than one. if the allocation of the OnSetParametersCallbackHandle fails. This method, if successful, will result in any callback registered with add_on_set_parameters_callback to be called, once for each parameter. @clalancette thanks, works for me! Declare and initialize a parameter with a type. The queried topic_name is not remapped. Return the NodeOptions used when creating this node. How can I build deb packages from ROS2 Bouncy Bolson packages? Note: in this particular case the driver SDK immediately returns the adjusted value which simplifies the logic. But how would you get a param holding a vector using the 'get_parameter' syntax? In the case for the camera FPS, if the hardware only supports up to 100 Hz, but the parameter input was 1000 Hz (or negative), reject it at this stage. URDF Rviz GazeboURDF Rviz Gazebo URDFRvizURDFRvizURDFGazebo, rviz_demosrcsrc, myroboturdflaunchurdfdemo01_base.urdfdemo01_launch.py, CMakeListx.txtLaunchURDF. The registered callbacks are called when a parameter is set. Comments There's no reason I'm aware of that we don't have that function, probably just haven't needed it yet. The problem is that I don't think we can have function signatures with both const and non-const (C++ doesn't know which one to call). Even a std::clamp inside the on_set_parameter_callback won't work as the parameter itself is immutable. B) If not, why not? The node from which a new sub-node is created. By clicking Sign up for GitHub, you agree to our terms of service and Like set_parameter() this method will implicitly undeclare parameters with the type rclcpp::PARAMETER_NOT_SET. Return the list of callback groups in the node. This namespace is the "node's" namespace, and therefore is not affected by any sub-namespace's that may affect entities created with this instance. If the exception is thrown then none of the parameters will have been set. For the slightly different case than what @tfoote linked to, here's how to get a single parameter as an array of values. Return the Node's internal NodeBaseInterface implementation. For instance the frame rate of a camera depends on the exposure time, the model-dependent camera dead time, the link bandwidth, etc etc. DDS) apps). The parameters to set in the given namespace. See the simpler declare_parameters() on this class for more details. but what if i set the parameter to be 101.0, using the current on_set_parameter_callback() behavior, then i could only reject it. if any of the parameters have not been declared and undeclared parameters are not allowed. Calling remove_on_set_parameters_callback more than once with the same handler, or calling it after the shared pointer has been reset is an error. if it starts with a leading '/'. If that callback prevents the initial value for any parameter from being set then rclcpp::exceptions::InvalidParameterValueException is thrown. the topic_name on which to find the publishers. To the ROS2 Related Top Page ROS2 Lecture: Beginner -ROS1 style- [Previous: ROS2 publisher/subscriber using original messages: Beginner -ROS1 style-] [Next:Minimum configuration parameter:ROS2 -ROS1 style-] Here, we create a service and client program. A relative or private topic will be expanded using this node's namespace and name. Note that entities which use absolute names are not affected by any namespaces, neither the normal node namespace nor any sub-namespace. tf::createQuaternionFromYaw equivalent in ros2, Define custom messages in python package (ROS2), Check if ROS2 Parameters Exist with RCLCPP, there doesn't seem to be a way to check if a parameter exists, Creative Commons Attribution Share Alike 3.0. The name of the parameter to be undeclared. This method will not cause a callback registered with add_on_set_parameters_callback to be called. An optional, custom description for the parameter. [rclcpp] How do you specify Subscriber queue_size? RvizQt, 11, gazebo There are two different things here: My suggestion for now is to implement the first one. The rclcpp::QoS has several convenient constructors, including a conversion constructor for size_t, which mimics older API's that allows just a string and size_t to create a publisher. If the value type of the parameter is rclcpp::PARAMETER_NOT_SET, and the existing parameter type is something else, then the parameter will be implicitly undeclared. In ROS1, you could retrieve a list of parameters. However, if the namespace is an empty string, then no leading '.' Support pre-set and post-set parameter callbacks in addition to on-set-parameter-callback. But after that, any change to any parameter won't be taken into account. With the current callback, it is entirely possible to clamp a value as you set it. (Fix bug that a callback not reached ()Set the minimum number of threads of the Multithreaded executor to 2 ()check thread whether joinable before join ()Set cpplint test timeout to 3 minutes ()Make sure to include-what-you-use in the node_interfaces. The returned namespace is a concatenation of the node namespace and the accumulated sub-namespaces, which is used as the namespace when creating entities which have relative names. And why would someone want to modify the parameters during on set parameter callback? We didn't provide the specific API to check if a parameter exists. An empty string for the prefix will match all parameters. you tried setting the frame rate to 40fps, but the driver knocked it back down to 33.7fps)? remove_on_set_parameters_callback(scoped_callback.get()). There's get_parameters() one line above which takes a vector of names and returns a vector of ParameterVariants. Callback group to execute this timer's callback in. The returned parameter is a list of topic endpoint information, where each item will contain the node name, node namespace, topic type, endpoint type, topic endpoint's GID, and its QoS profile. typename MessageMemoryStrategyT::SharedPtr, The user-defined callback function to receive a message, Additional options for the creation of the. If the callback prevents the parameter from being set, then, as mentioned before, it will be reflected in the corresponding SetParametersResult that is returned, but no exception will be thrown. But after that, any change to any parameter won't be taken into account. rclcpp::Event::SharedPtr rclcpp::Node::get_graph_event, rclcpp::Clock::SharedPtr rclcpp::Node::get_clock, rclcpp::Clock::ConstSharedPtr rclcpp::Node::get_clock, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::Node::get_node_base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr rclcpp::Node::get_node_clock_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr rclcpp::Node::get_node_graph_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr rclcpp::Node::get_node_logging_interface, rclcpp::node_interfaces::NodeTimersInterface::SharedPtr rclcpp::Node::get_node_timers_interface, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr rclcpp::Node::get_node_topics_interface, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr rclcpp::Node::get_node_services_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr rclcpp::Node::get_node_waitables_interface, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr rclcpp::Node::get_node_parameters_interface, rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr rclcpp::Node::get_node_time_source_interface, rclcpp::Node::SharedPtr rclcpp::Node::create_sub_node. Get the fully-qualified name of the node. I'm sorry, I haven't reached this thread for a while. The callback signature is designed to allow handling of any of the above set_parameter* or declare_parameter* methods, and so it takes a const reference to a vector of parameters to be set, and returns an instance of rcl_interfaces::msg::SetParametersResult to indicate whether or not the parameter should be set or not, and if not why. Return the parameters by the given parameter names. In this case, how do you provide feedback that the parameter has been adjusted (e.g. The return value of this class is a copy of the member of a ParameterValue which is returned by the other version of declare_parameter(). A sub-node (short for subordinate node) is an instance of this class which has been created using an existing instance of this class, but which has an additional sub-namespace (short for subordinate namespace) associated with it. Parameters can be integers, floating point numbers, booleans, string, or arrays of the previous types. This method will never throw the rclcpp::exceptions::ParameterNotDeclaredException exception because the action of listing the parameters is done atomically with getting the values, and therefore they are only listed if already declared and cannot be undeclared before being retrieved. I have another case of a driver for an experimental camera that is even more complex. When the no_mangle parameter is true, the provided topic_name should be a valid topic name for the middleware (useful when combining ROS with native middleware (e.g. Like the version of get_parameter() which returns a bool, this method will not throw the rclcpp::exceptions::ParameterNotDeclaredException exception. Let me know if you need any help with it, and I can provide a few more pointers. Return the topic endpoint information about subscriptions on a given topic. This method will result in any callback registered with add_on_set_parameters_callback to be called. Is there a way to get a parameter from the Parameters Server as unsigned type? Get a clock as a non-const shared pointer which is managed by the node. If the parameter has not been declared, it will not attempt to coerce the value into the requested type, as it is known that the type is not set. Like the templated get_parameter() variant, this method will attempt to coerce the parameter values into the type requested by the given template argument, which may fail and throw an exception. The returned sub-namespace is either the accumulated sub-namespaces which were given to one-to-many create_sub_node() calls, or an empty string if this is an original node instance, i.e. declare_parameter also gets the parameter. If the parameter was not declared, then the output argument for this method which is called "parameter" will not be assigned a value. With parameters you can already change the configuration of the node at runtime. if the sub-namespace is absolute, i.e. That "normal" node instance may, however, be used to create further instances of this class, based on the original instance, which have an additional sub-namespace associated with them. And is the documentation 2years later still missing? Well occasionally send you account related emails. Using a validator before updating the parameters is all nice and well if validation can be done beforehand. This method will result in any callback registered with add_on_set_parameters_callback to be called, just one time. rclcpp::Node::add_on_set_parameter_callback(), https://github.com/ros/robot_state_publisher/blob/b6fbbd0a821c14d6ea34f83bcab93c77358caeef/src/robot_state_publisher.cpp#L159-L161. The resulting list of parameter names are used to get the values of the parameters. And the bad things, we also couldn't call set_parameter() inside the callback as stated in the documentation. Return the Node's internal NodeServicesInterface implementation. You can see that the SetParametersResult is a boolean flag for success and an optional reason that can be used in error reporting when it fails. If the callback prevents the parameter from being set, then it will be reflected in the SetParametersResult that is returned, but no exception will be thrown. Register a callback to be called anytime a parameter is about to be changed. By default, when an instance of this class is created using one of the public constructors, it has no sub-namespace associated with it, and therefore is not a sub-node. None of these commands work: Return the Node's internal NodeLoggingInterface implementation. No robot_description parameter, but command-line argument available. The callback may introspect other already set parameters (by calling any of the {get,list,describe}_parameter() methods), but may not modify other parameters (by calling any of the {set,declare}_parameter() methods) or modify the registered callback itself (by calling the add_on_set_parameters_callback() method). The returned reference will remain valid until the parameter is undeclared. This allows the node developer to control which parameters may be changed. The returned smart pointer can be promoted to a shared version. Delete a handler returned by add_on_set_parameters_callback. Yes that's exactly what i means, as described by @clalancette. Return the Node's internal NodeTimersInterface implementation. Additional options to control creation of the node. const rcl_interfaces::msg::ParameterDescriptor &. Resetting or letting the smart pointer go out of scope after calling remove_on_set_parameters_callback is not a problem. Even a std::clamp inside the on_set_parameter_callback won't work as the parameter itself is immutable. Return the Node's internal NodeParametersInterface implementation. Declare and initialize a parameter, return the effective value. @William That's what I wanted to know. Create a new node with the specified name. joint_state_publisher_guirobot_state_publisher: joint_state_publisher_guijoint_state_publisherjoint_state_publisher_guiURDF , robot_state_publisher, robot_descriptionparameters. @clalancette i updated my feature description. not a sub-node. Depending on your use case each different one has tradeoffs. Parameter overrides are ignored by set_parameter. Wrap rclcpp::Node with basic Lifecycle behavior? Example for changing the values on the command line: ros2 run examples_rclcpp_cbg_executor ping_pong --ros-args -p ping_period:=0.033 -p high_busyloop:=0.025. ROS2 rclcpp Parameter Callback [Tutorial] In this ROS2 tutorial I will show you how to use an rclcpp parameter callback, so you can dynamically change parameters' values while a node is alive. GitHub What is set_on_parameters_set_callback doing? This version will take a map where the value is a pair, with the default parameter value as the first item and a parameter descriptor as the second. And you can use get_parameter (s) to get the rclcpp::Parameter for it, and on that class there are as_*_array () methods: https://github.com/ros2/rclcpp/blob/a. using rclcpp::Node::OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType Constructor & Destructor Documentation Node () [1/3] Create a new node with the specified name. An initial value to be used if at run-time user did not override it. Wrap rclcpp::Node with basic Lifecycle behavior? Return the effective namespace that is used when creating entities. Declare params with rclcpp Value to be stored in output if the parameter was not set. The text was updated successfully, but these errors were encountered: But considered the following scenario, i have a parameter that only accept the double value of 0.0 to 100.0. if i set the parameter with double value between 0.0 to 100.0, then it would be fine. That is, my parameterCallback() looks something like: But I think what you are trying to do is something more like: @threeal Can you confirm that this is the use case you are trying to support? 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