For example, if you use the prefix "foo" and the parameters "foo.ping" and "foo.pong" exist, then the returned map will have the keys "ping" and "pong". Declare params with rclcpp GitHub What is set_on_parameters_set_callback doing? Return the number of publishers that are advertised on a given topic. or what if i accidently set the parameter using an integer value of 50? I think we have a long-term goal of being able to automatically clamp values for parameters based on the parameter description. It will provide an API that can atomically update a set of values such that if any of the values fail validation, none of the values are set. But after that, any change to any parameter won't be taken into account. you tried setting the frame rate to 40fps, but the driver knocked it back down to 33.7fps)? Undeclare a previously declared parameter. The names which are used as keys in the values map have the prefix removed. 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. privacy statement. 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. URDF Rviz GazeboURDF Rviz Gazebo URDFRvizURDFRvizURDFGazebo, rviz_demosrcsrc, myroboturdflaunchurdfdemo01_base.urdfdemo01_launch.py, CMakeListx.txtLaunchURDF.
Set the given parameters, one at a time, and then return result of each set action. 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. [rclcpp] How do you specify Subscriber queue_size? Incorrect Security Information - Docker GUI, How to get an array of parameters with rclcpp, get_parameter returning an ParameterVariant, Creative Commons Attribution Share Alike 3.0. In this case, how do you provide feedback that the parameter has been adjusted (e.g. That means that we'd have to change the signature of the parameter callbacks again. How can I build deb packages from ROS2 Bouncy Bolson packages?
We didn't provide the specific API to check if a parameter exists. For instance the frame rate of a camera depends on the exposure time, the model-dependent camera dead time, the link bandwidth, etc etc. Parameters Exceptions InvalidNamespaceError if the namespace is invalid Node () [2/3] There are many ways to get that information. Considered the following scenario, i have a parameter that should 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. I found below code to work, not sure if this is the recommended way, but it works. Return the Node's internal NodeClockInterface implementation. Depending on your use case each different one has tradeoffs. I have another case of a driver for an experimental camera that is even more complex. An empty string for the prefix will match all parameters. 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. It worked, but kinda be a tricky solution and a bad habit as the parameters was implicitly stated to be constant. The updated values can include unsetting the value. B) If not, why not? If you pass multiple rclcpp::Parameter instances with the same name, then only the last one in the vector (forward iteration) will be set. But I'm running into cases where a driver will adjust parameters that have been set, based on rules that are either too complex to reasonably encode, or are not documented at all. topic_name may be a relative, private, or fully qualified topic name. Declare and initialize a parameter with a type. read_only will be false. Note: in this particular case the driver SDK immediately returns the adjusted value which simplifies the logic. The parameters to set in the given namespace. I don't think anyone is currently working on this, so help here would be appreciated. foo is std::vector. remove_on_set_parameters_callback can also be used. There's no reason I'm aware of that we don't have that function, probably just haven't needed it yet. No robot_description parameter, but command-line argument available. Create a sub-node, which will extend the namespace of all entities created with it. This allows you to declare several parameters at once without a namespace. Yes, that is the default. if any parameter has not been declared and undeclared parameters are not allowed. DDS) apps). Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter". Is there a way to get a parameter from the Parameters Server as unsigned type? Get a clock as a const shared pointer which is managed by the node. 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. For example, all of these cases will work: The publisher options may optionally be passed as the third argument for any of the above cases. 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. The message memory strategy to use for allocating messages. Return the Node's internal NodeTimersInterface implementation. joint_state_publisher_guirobot_state_publisher: joint_state_publisher_guijoint_state_publisherjoint_state_publisher_guiURDF , robot_state_publisher, robot_descriptionparameters. Return the Node's internal NodeServicesInterface implementation. As an alternative, the smart pointer can be reset: Supposing that scoped_callback was the only owner. That way you wouldn't even have to write a parameter callback to accomplish this. This method, if successful, will result in any callback registered with add_on_set_parameters_callback to be called. If no parameter_descriptor is given, then the default values from the message definition will be used, e.g. Return a vector of parameter descriptors, one for each of the given names. Return the NodeOptions used when creating this node. Set Parameters. The resulting list of parameter names are used to get the values of the parameters. This allows the node developer to control which parameters may be changed. 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). Note also that the fully qualified node name is unaffected by a sub-namespace. if the parameter was create as read_only (immutable). using rclcpp::Node::OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType Constructor & Destructor Documentation Node () [1/3] Create a new node with the specified name. Like set_parameter() this method will implicitly undeclare parameters with the type rclcpp::PARAMETER_NOT_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. An initial value to be used if at run-time user did not override it. The problem with const reference is we cannot modify the value of the parameters to be set inside the on set parameter callback. 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. To avoid this, use the declare_parameter() method which returns an rclcpp::ParameterValue instead. 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. The sub-namespace should be relative, and an exception will be thrown if the sub-namespace is absolute, i.e. What I would consider doing here is the following: I think the above should give you the behavior you want. this->get_parameter("foo", foo); syntax? sw_urdf_exporterurdf packageurdflink.STLsolidworks, jointlinkURDF(), RvizRviz 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. Set the given parameters, all at one time, and then aggregate result. This method will result in any callback registered with add_on_set_parameters_callback to be called, just one time. We may not have that API yet, but we can certainly add it or whatever the appropriate alternative is. as_bool () bool rclcpp::Parameter::as_bool ( ) const as_int () int64_t rclcpp::Parameter::as_int ( ) const And lastly if you just use the return code you can integrate the fallback behavior inside your accessing logic. However, if the namespace is an empty string, then no leading '.' Like get_parameters(), this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception if the requested parameter has not been declared and undeclared parameters are not allowed. the topic_name on which to find the subscriptions. This may be done by using this method, create_sub_node(). wouldn't it be better if i could accept it in condition that the parameter value is clamped to 100.0? With parameters you can already change the configuration of the node at runtime. 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). but what if i accidently set the parameter to be 101.0, using the current on_set_parameter_callback() behavior, then i could only reject it. None of these commands work: For instance the frame rate of a camera depends on the exposure time, the model-dependent camera dead time, the link bandwidth, etc etc. The "prefix" argument is used to list the parameters which are prefixed with that prefix, see also list_parameters(). In this case, how do you provide feedback that the parameter has been adjusted (e.g. the only things that could be done during on_set_parameter_callback is rejecting an invalid parameter. Which return vector<T>. Set one or more parameters, one at a time. The names of the parameters to be retrieved. Return a vector of parameter types, one for each of the given names. rcl_interfaces::msg::SetParametersResult rclcpp::Node::set_parameter. Can you explain more? parameter /position -> [1.0, 1.0, 0.0])? When the no_mangle parameter is false, the provided topic_name should follow ROS topic name conventions. If a callback tries to do any of the latter things, rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown. Return a map of existing service names to list of service types. Use get_effective_namespace() to get the full namespace used by entities. @clalancette i updated my feature description. rcl_interfaces::msg::ParameterDescriptor rclcpp::Node::describe_parameter, if the number of described parameters is more than one. Get the fully-qualified names of all available nodes. rclcpp: ROS Client Library for C++ rclcpp provides the canonical C++ API for interacting with ROS. Part of that is an explicit declare step for parameters, which will make "exists" make more sense. 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. The node from which a new sub-node is created. Sorry I thought you wanted to list multiple parameters. In ROS1, you could retrieve a list of parameters. 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? 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. Anyway, more information here on what you are trying to do (including a code example) would be most helpful. Resetting or letting the smart pointer go out of scope after calling remove_on_set_parameters_callback is not a problem. Modify Parameters On Set Parameter Callback. This method will result in any callback registered with add_on_set_parameters_callback to be called, once for each parameter. The returned reference will remain valid until the parameter is undeclared. the only things that could be done during on_set_parameter_callback is rejecting an invalid parameter. If the names vector is empty, then an empty vector will be returned. To get that you need to call the get_effective_namespace() method. RvizQt, 11, gazebo We recently merged this feature (made by @ayrton04), see: Looks like there's no documentation yet, but there is an example of setting: And you can use get_parameter(s) to get the rclcpp::Parameter for it, and on that class there are as_*_array() methods: Is there a way to achieve this by just using this->declare_parameter("foo", 15.0); Create a new node with the specified name. Assuming argument is name of URDF file.This backwards compatibility fallback will be removed in the future. Return a map of existing topic names to list of topic types. 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? Neither is hacking it the way I currently do by starting a timer inside the parameter callback handler to defer the modification of the parameter: So I would say that this case is probably beyond the scope of what a set_parameter_callback() can do (at least, in the current design). the topic_name on which to count the subscribers. If the callback prevents the parameters from being set, then it will be reflected in the SetParametersResult which is returned, but no exception will be thrown. We don't have it in the demos but there are tests covering it you can use as an example, here. Please start posting anonymously - your entry will be published after you log in or create a new account. In all cases, the parameter is never set or declared within the node. The namespace in which to declare the parameters. An optional, custom description for the parameter. This method will result in any callback registered with add_on_set_parameters_callback to be called. Construct a sub-node, which will extend the namespace of all entities created with it. And is the documentation 2years later still missing? when i accept it, the parameter would simply changed from double to integer, and it would be considered bad. wouldn't it be better if i could accept it in condition that the parameter value is clamped to 100.0? 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. void rclcpp::Node::remove_on_set_parameters_callback. if the parameter has not been declared and undeclared parameters are not allowed. It is a somewhat clunky approach, but at the moment I don't have much better idea. In ROS2, there doesn't seem to be a way to check if a parameter exists directly without attempting to get the value of the parameter. Return the Node's internal NodeBaseInterface implementation. if any of the parameters have not been declared and undeclared parameters are not allowed. But how would you get a param holding a vector using the 'get_parameter' syntax? https://github.com/ros2/rclcpp/blob/r Ah, so when you do 'auto foo', is 'foo' of the std::vector type? so basically, there's no way that allows a node to modify the parameters that will be set during the on_set_parameter_callback. typename MessageMemoryStrategyT::SharedPtr, The user-defined callback function to receive a message, Additional options for the creation of the. If you get immediate feedback from the hardware that the change was lower than expected, call. not a sub-node. It should be possible to register it before or after the parameters are declared. Basically there is no way to write a good validator. The official animated diagram explaining the service . 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. Given a list of parameter names, it will request an update of the values subject to validation of the values. The resulting value for each declared parameter will be returned. const char* rclcpp::Node::get_fully_qualified_name, rclcpp::CallbackGroup::SharedPtr rclcpp::Node::create_callback_group. The name and type in the given rcl_interfaces::msg::ParameterDescriptor are ignored, and should be specified using the name argument to this function and the default value's type instead. 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. If ignore_overrides is true, all the overrides of the parameters declared by the function call will be ignored. There is another overload which takes the std::pair with the default value and descriptor. 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. Note that entities which use absolute names are not affected by any namespaces, neither the normal node namespace nor any sub-namespace. If a parameter fails to be set due to any other reason, like being rejected by the user's callback (basically any reason other than not having been declared beforehand), then that is reflected in the corresponding SetParametersResult in the vector returned by this function. Otherwise, the parameter names and values will be stored in the map and true will be returned to indicate "values" was mutated. 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. remove_on_set_parameters_callback(scoped_callback.get()). Wouldn't it be better if i could accept it in condition that the parameter type to be casted to double value?. Wait for a graph event to occur by waiting on an Event to become set. The map contains default values for parameters. Even a std::clamp inside the on_set_parameter_callback won't work as the parameter itself is immutable. As explained in the add_on_set_parameters_callback() documentation: 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. If undeclared parameters are allowed, then a default initialized descriptor will be returned for the undeclared parameter's descriptor. You signed in with another tab or window. Declare and initialize a parameter, return the effective value. If undeclared parameters are allowed, then the parameter is implicitly declared with the default parameter meta data before being set. If ignore_override is true, the parameter override will be ignored. Behaves like set_parameter, except that it sets multiple parameters, failing all if just one of the parameters are unsuccessfully set. Return a graph event, which will be set anytime a graph change occurs. 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(). 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. i have a parameter that should only accept the double value of 0.0 to 100.0, but what if i accidently set the parameter to be 101.0. i guess that is the setter's responsibility, since setter sets the parameter which is out of range? 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. Note that the callback is called when declare_parameter() and its variants are called, and so you cannot assume the parameter has been set before this callback, so when checking a new value against the existing one, you must account for the case where the parameter is not yet set. I would add clipping what makes sure the parameter will be set in the rage of 0.0 to 100.0 in the setter. starts with a leading '/'. But i shouldn't reject it either. declare_parameter also gets the parameter. Changelog for package rclcpp 17.1.0 (2022-11-02) MultiThreadExecutor number of threads is at least 2+ in default. The messages exchanged are used using the original messages created earlier.. Ah, I see where the disconnect is now. Yes that's exactly what i means, as described by @clalancette. rclcpp::Node::add_on_set_parameter_callback(), https://github.com/ros/robot_state_publisher/blob/b6fbbd0a821c14d6ea34f83bcab93c77358caeef/src/robot_state_publisher.cpp#L159-L161. The map used to store the parameter names and values, respectively, with one entry per parameter matching prefix. Please start posting anonymously - your entry will be published after you log in or create a new account. Value to be stored in output if the parameter was not set. If that callback prevents the initial value for the parameter from being set then rclcpp::exceptions::InvalidParameterValueException is thrown. Here is a simple way to declare and get a vector of integers in Galactic: This shows how to declare the parameter. If undeclared parameters are allowed, then the default type rclcpp::ParameterType::PARAMETER_NOT_SET will be returned. [ROS2] What's the best way to wait for a new message? By clicking Sign up for GitHub, you agree to our terms of service and The name of the parameter to be undeclared. check my note, basically we could use rclcpp::Node::add_on_set_parameter_callback() to create a validator, and the hack is constant casting the parameter, and modify the value there. See also: Declare and initialize several parameters with the same namespace and type. ( 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 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. If the parameter was not set, then the "parameter" argument is assigned the "alternative_value". There's get_parameters() one line above which takes a vector of names and returns a vector of ParameterVariants. For each key in the map, a parameter with a name of "namespace.key" will be set to the value in the map. If you're going to be checking more than one parameter, the listing is likely valuable. 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. Wrap rclcpp::Node with basic Lifecycle behavior? @William That's what I wanted to know. It should be pretty straightforward; we already have the ability to specify ranges in the parameter descriptor, we just need to enforce it when it is changed. Wrap rclcpp::Node with basic Lifecycle behavior? 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. Register a callback to be called anytime a parameter is about to be changed. [rclcpp] How do you specify Subscriber queue_size? Support for pre-set and post-set parameter callback. The registered callbacks are called when a parameter is set. 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. Using a validator before updating the parameters is all nice and well if validation can be done beforehand. And the bad things, we also couldn't call set_parameter() inside the callback as stated in the documentation. 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. Let me know if you need any help with it, and I can provide a few more pointers. Return true if a given parameter is declared. It consists of these main components: Node rclcpp::Node rclcpp/node.hpp Publisher rclcpp::Node::create_publisher () rclcpp::Publisher rclcpp::Publisher::publish () rclcpp/publisher.hpp Subscription rclcpp::Node::create_subscription () There was some work done on lists in parameters this cycle, but I don't know the state off-hand, let me look it up. rclcpp::node_interfaces::OnSetParametersCallbackHandle, rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType, rclcpp::Node::OnParametersSetCallbackType, rclcpp::Node::OnSetParametersCallbackHandle, rclcpp::exceptions::InvalidParameterValueException, rclcpp::exceptions::ParameterAlreadyDeclaredException, rclcpp::exceptions::InvalidParametersException, rclcpp::exceptions::InvalidParameterTypeException, https://en.cppreference.com/w/cpp/language/lifetime, https://herbsutter.com/2008/01/01/gotw-88-a-candidate-for-the-most-important-const/, https://www.youtube.com/watch?v=uQyT-5iWUow, rclcpp::exceptions::ParameterNotDeclaredException, rclcpp::exceptions::ParameterImmutableException, rclcpp::NodeOptions::allow_undeclared_parameters, rclcpp::exceptions::ParameterModifiedInCallbackException, rclcpp::node_interfaces::NodeClock::get_clock, template, typename PublisherT = rclcpp::Publisher>, template, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type::type, typename SubscriptionT = rclcpp::Subscription, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>, template, rcl_interfaces::msg::ListParametersResult, Wait for a graph event to occur by waiting on an, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeClockInterface::SharedPtr, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeTimersInterface::SharedPtr, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr, rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr. 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