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ROS 2 Documentation

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rosparam

See rosparam on index.ros.org for more info including aything ROS 2 related.

Documentation Status

diamondback: Only showing information from the released package extracted on Unknown. No API documentation available. Please see this page for information on how to submit your repository to our index.

electric: Documentation generated on March 02, 2013 at 01:23 PM

fuerte: Documentation generated on December 28, 2013 at 05:36 PM

groovy: Documentation generated on October 06, 2014 at 11:47 AM

hydro: Documentation generated on August 28, 2015 at 12:33 PM ( doc job ).

indigo: Documentation generated on June 07, 2019 at 04:56 AM ( doc job ).

jade: Documentation generated on March 07, 2017 at 11:33 AM ( doc job ).

kinetic: Documentation generated on November 02, 2020 at 03:47 AM ( doc job ).

lunar: Documentation generated on February 03, 2019 at 11:23 AM ( doc job ).

melodic: Documentation generated on March 01, 2022 at 07:25 AM ( doc job ).

noetic: Documentation generated on September 14, 2024 at 10:54 AM ( doc job ).

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roslib

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Package Summary

rosparam contains the rosparam command-line tool for getting and setting ROS Parameters on the Parameter Server using YAML-encoded files. It also contains an experimental library for using YAML with the Parameter Server. This library is intended for internal use only. rosparam can be invoked within a roslaunch file.

Author: Ken Conley/[email protected]
License: BSD
Repository: ros
Source: svn https://code.ros.org/svn/ros/stacks/ros_comm/tags/ros_comm-1.4.8

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Package Summary

Author: Ken Conley/[email protected]
License: BSD
Source: git https://github.com/ros/ros_comm.git (branch: ros_comm-1.6)

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Package Summary

Author: unknown
License: unknown
Source: git https://github.com/ros/ros_comm.git (branch: fuerte-devel)

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Dependencies (3)

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Package Summary

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Dependencies (2)

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Package Summary

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Dependencies (2)

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Package Summary

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Dependencies (2)

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Package Summary

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Dependencies (2)

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Dependencies (2)

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Jenkins jobs (6)

Package Summary

Contents

YAML Format
roslaunch API
rosparam command-line tool
Roadmap
See Also

YAML Format

YAML is a lightweight markup language that supports all parameter types. For more on YAML, see the YAML 1.2 spec . For tips on entering YAML in at the command-line, please see the YAML command line guide.

rosparam uses a 1-to-1 correspondence between Parameter Server types and YAML types. For example:

string: 'foo'
integer: 1234
float: 1234.5
boolean: true
list: [1.0, mixed list]
dictionary: {a: b, c: d}

YAML dictionaries can occur as the argument to the load and set commands of rosparam . Dictionaries in this context are interpreted differently from namespace dictionaries that are set as the value of a parameter (e.g. from a C++ or Python node). Instead of replacing a parameter namespace, dictionaries in rosparam are unpacked into individual parameters to be set on the Parameter Server. Thus, rosparam dictionaries can be thought of as adding new values to a parameter namespace.

There are also special converters for angle radian/degree representations. Any Python-legal mathematical expression can be used with the radian value, with pi used to represent pi.

angle1: rad(2*pi)
angle2: deg(180)

or,

angle1: !degrees 181.0
angle2: !radians 3.14169

In either case, the angle value is converted to radians (float).

roslaunch API

The <rosparam> tag enables the use of the rosparam tool for loading and dumping parameters encoded in YAML files. The <rosparam> tag can be put inside of a <node> tag, in which case the parameter is treated like a private name .

rosparam command-line tool

The rosparam tool enables command-line setting and getting of parameters as well as loading and dumping Parameter Server state to a file. The currently supported commands are:

rosparam set    set parameter
rosparam get    get parameter
rosparam load   load parameters from file
rosparam dump   dump parameters to file
rosparam delete delete parameter
rosparam list   list parameter names

Command-line arguments to rosparam obey the ROS_NAMESPACE environment variable (see Environment Variables ). Parameter names that are not globally specified are resolved with respect to ROS_NAMESPACE .

NOTE: get and dump are essentially the same command, as are set and load , with the only difference being whether or not a file is used.

rosparam list

list
- list all parameter names.
```
$ rosparam list
```
list <namespace>
- list all parameters in a particular namespace.
```
$ rosparam list /namespace
```

rosparam get

get <parameter-name>
- Get a parameter value.
```
$ rosparam get parameter_name
```
-p
- Pretty-print output. WARNING: this is not YAML-safe .
-v
- Show verbose output.

rosparam set

set <parameter-name> [parameter-value]
- Set a parameter to a value. parameter-value is required unless --textfile or --binfile are specified.
```
$ rosparam set parameter_name value
```
  NOTE: if parameter value is a dictionary, this will add to the currently set values.
- Examples :
  - Setting a list with one as a string, integer, and float:
```
$ rosparam set /foo "['1', 1, 1.0]"
```
    Setting an entire namespace of parameters using a YAML dictionary:
    
    $ rosparam set /gains "p: 1.0 i: 1.0 d: 1.0"
-v
- Show verbose output.
-t <text_file>, --textfile <text_file> New in Diamondback
- Set parameter to contents of text file.
-b <binary_file>, --binfile <binary_file> New in Diamondback
- Set parameter to contents of binary file. Parameter Server will store value as an XML-RPC Binary type (Base 64 encoded).

rosparam delete

delete <parameter-name>
- Delete a parameter value.
```
$ rosparam delete parameter_name 
```
-v
- Show verbose output.

rosparam dump

dump <file>

Dump the YAML-formatted contents of the Parameter Server to a file.
```
$ rosparam dump dump.yaml
```

dump <file> <namespace>

Dump only the the parameters in the specified namespace.
```
$ rosparam dump dump.yaml /namespace
```

-v

Verbose output. e.g.:

$ rosparam dump -v gains.yaml /gains
dumping namespace [/gains] to file [gains.yaml]
/gains/i=1.0
/gains/p=1.0
/gains/d=1.0

rosparam load

load <yaml-file> [namespace]
- Load parameters from a YAML file into the specified [namespace] (defaults to / ). NOTE: this will add to the currently set values.
```
$ rosparam load dump.yaml
```
-v
- Show verbose output.

Roadmap

rosparam is a stable command-line tool within the ROS core toolchain. No major feature development is currently scheduled for this tool.

ROS 2 Documentation

Package Summary

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YAML Format

roslaunch API

rosparam command-line tool

rosparam list

rosparam get

rosparam set

rosparam delete

rosparam dump

rosparam load

Roadmap

See Also