ros2 rclcpp parameter

There's no reason I'm aware of that we don't have that function, probably just haven't needed it yet. That way you wouldn't even have to write a parameter callback to accomplish this. or what if i accidently set the parameter using an integer value of 50? 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 () And the bad things, we also couldn't call set_parameter() inside the callback as stated in the documentation. 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. 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 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. (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. Wait for a graph event to occur by waiting on an Event to become set. A) Is there a way to check if a parameter exists that I'm missing B) If not, why not? For instance the frame rate of a camera depends on the exposure time, the model-dependent camera dead time, the link bandwidth, etc etc. To get that you need to call the get_effective_namespace() method. 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). Set the given parameters, all at one time, and then aggregate result. rclcpp::Node::add_on_set_parameter_callback(), https://github.com/ros/robot_state_publisher/blob/b6fbbd0a821c14d6ea34f83bcab93c77358caeef/src/robot_state_publisher.cpp#L159-L161. By clicking Sign up for GitHub, you agree to our terms of service and the only things that could be done during on_set_parameter_callback is rejecting an invalid parameter. Declare params with rclcpp I found below code to work, not sure if this is the recommended way, but it works. The problem with const reference is we cannot modify the value of the parameters to be set inside the on set parameter callback. 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. The messages exchanged are used using the original messages created earlier.. 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). I'm not following what feature you are looking for here. if the parameter has not been declared and undeclared parameters are not allowed. Parameter overrides are ignored by set_parameter. Yes that's exactly what i means, as described by @clalancette. Return the Node's internal NodeTimersInterface implementation. this->get_parameter("foo", foo); syntax? 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. Return the number of publishers that are advertised on a given topic. RvizQt, 11, gazebo using rclcpp::Node::OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType Constructor & Destructor Documentation Node () [1/3] Create a new node with the specified name. With parameters you can already change the configuration of the node at runtime. 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. Additional options to control creation of the node. How can I build deb packages from ROS2 Bouncy Bolson packages? you tried setting the frame rate to 40fps, but the driver knocked it back down to 33.7fps)? However, if the namespace is an empty string, then no leading '.' 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. to your account. I'm sorry, I haven't reached this thread for a while. Return a vector of parameter types, one for each of the given names. This may be done by using this method, create_sub_node(). The documentation shows get_parameter returning an ParameterVariant but ParameterVariant doesn't seem to have an as_vector option. The name of the parameter to check for being declared. if the parameter was create as read_only (immutable). 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. parameter /position -> [1.0, 1.0, 0.0])? Multiple parameter callbacks are not possible now. B) If not, why not? Get a clock as a non-const shared pointer which is managed by the node. The topic for this publisher to publish on. The order of the callback is the reverse from the registration order. Return the parameters by the given parameter names. If the parameter has not been declared, then this method may throw the rclcpp::exceptions::ParameterNotDeclaredException exception. 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. topic_name may be a relative, private, or fully qualified topic name. 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. Modify Parameters On Set Parameter Callback. There are two different things here: My suggestion for now is to implement the first one. This method will not cause a callback registered with add_on_set_parameters_callback to be called. If, at run-time, the user has provided an initial value then it will be set in this method, otherwise the given default_value will be set. 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. 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. 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. Let me know if you need any help with it, and I can provide a few more pointers. If undeclared parameters are allowed, then the default type rclcpp::ParameterType::PARAMETER_NOT_SET will be returned. The given Event must be acquire through the get_graph_event() method. Here is a simple way to declare and get a vector of integers in Galactic: This shows how to declare the parameter. [rclcpp] How do you specify Subscriber queue_size? This method will result in any callback registered with add_on_set_parameters_callback to be called, just one time. See also: Declare and initialize several parameters with the same namespace and type. as_bool () bool rclcpp::Parameter::as_bool ( ) const as_int () int64_t rclcpp::Parameter::as_int ( ) const Identical to the non-templated version of this method, except that when assigning the output argument called "parameter", this method will attempt to coerce the parameter value into the type requested by the given template argument, which may fail and throw an exception. 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. https://github.com/ros2/rclcpp/blob/r Ah, so when you do 'auto foo', is 'foo' of the std::vector type? Sign up for a free GitHub account to open an issue and contact its maintainers and the community. The syntax has been getting easier over time. Have a question about this project? Return the Node's internal NodeBaseInterface implementation. If the parameter was not declared, then the output argument for this method which is called "parameter" will not be assigned a value. 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. The name of the parameter to be undeclared. The returned smart pointer can be promoted to a shared version. I have another case of a driver for an experimental camera that is even more complex. rcl_interfaces::msg::ListParametersResult rclcpp::Node::list_parameters. See the simpler declare_parameters() on this class for more details. As an alternative, the smart pointer can be reset: Supposing that scoped_callback was the only owner. read_only will be false. Even a std::clamp inside the on_set_parameter_callback won't work as the parameter itself is immutable. const rcl_interfaces::msg::ParameterDescriptor &. With these values, about (0.033s - 0.025s) / 0.010s = 80% of the ping messages on the low prio path should be processed and . the topic_name on which to find the subscriptions. A) Is there a way to check if a parameter exists that I'm missing If undeclared parameters are allowed, then a default initialized descriptor will be returned. Or in this example how come that the parameter doesn't need to be declared? More Node is the single point of entry for creating publishers and subscribers. The node from which a new sub-node is created. 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. 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. rcl_interfaces::msg::SetParametersResult result; Encapsulation of Quality of Service settings. 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. If you get immediate feedback from the hardware that the change was lower than expected, call. 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). It is a somewhat clunky approach, but at the moment I don't have much better idea. What I would consider doing here is the following: I think the above should give you the behavior you want. You signed in with another tab or window. For the slightly different case than what @tfoote linked to, here's how to get a single parameter as an array of values. 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. The updated values can include unsetting the value. Please start posting anonymously - your entry will be published after you log in or create a new account. 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). And by seeing the example in the documentation, we could conclude that the on set parameter callback could only filter an invalid parameter by rejecting it. Return true if a given parameter is declared. 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. if any parameter has not been declared and undeclared parameters are not allowed. Return the Node's internal NodeTopicsInterface implementation. Return a map of existing topic names to list of topic types. If ignore_override is true, the parameter override will be ignored. We also support arrays of primatives. 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. If the names vector is empty, then an empty vector will be returned. If you don't do that, you won't be able to access it and you'll get an error instead (rclcpp::exceptions::ParameterNotDeclaredException). For removing it, use set_on_parameters_set_callback(nullptr). Get the fully-qualified name of the node. Use an set_parameter_callback () to validate that the parameter is within any reasonable bounds. Parameters can be integers, floating point numbers, booleans, string, or arrays of the previous types. The callbacks added with add_on_set_parameters_callback are stored in a different place. 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. Using a validator before updating the parameters is all nice and well if validation can be done beforehand. This allows the node developer to control which parameters may be changed. 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. you tried setting the frame rate to 40fps, but the driver knocked it back down to 33.7fps)? 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. the topic_name on which to find the publishers. 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. the node_name on which to count the publishers. Basically there is no way to write a good validator. It looks like the documentation is not complete. If undeclared parameters are allowed, see the node option rclcpp::NodeOptions::allow_undeclared_parameters, then this method will not throw an exception, and instead return a default initialized rclcpp::Parameter, which has a type of rclcpp::ParameterType::PARAMETER_NOT_SET. Set the given parameters, one at a time, and then return result of each set action. In ROS1, you could retrieve a list of parameters. Parameters Exceptions InvalidNamespaceError if the namespace is invalid Node () [2/3] And why would someone want to modify the parameters during on set parameter callback? Return a graph event, which will be set anytime a graph change occurs. 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. Currently the rclcpp::Node::add_on_set_parameter_callback() only support callback of rcl_interfaces::msg::SetParametersResult callback(const std::vector ¶meters). When I've used this in the past, I've always had a separate member variable internal to the class that I set. 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. Set the given parameter and then return result of the set action. 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. This method will result in any callback registered with add_on_set_parameters_callback to be called. Get the parameter values for all parameters that have a given prefix. The queried topic_name is not remapped. typename MessageMemoryStrategyT::SharedPtr, The user-defined callback function to receive a message, Additional options for the creation of the. GitHub What is set_on_parameters_set_callback doing? Return the parameter descriptor for the given parameter name. There is another overload which takes the std::pair with the default value and descriptor. if the sub-namespace is absolute, i.e. Use get_effective_namespace() to get the full namespace used by entities. Assuming argument is name of URDF file.This backwards compatibility fallback will be removed in the future. The parameters to set in the given namespace. Or is 'foo' of the rclcpp::Parameter type? [rclcpp] How do you specify Subscriber queue_size? Note that entities which use absolute names are not affected by any namespaces, neither the normal node namespace nor any sub-namespace. 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? 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. Which return vector<T>. Depending on your use case each different one has tradeoffs. Parameters are set in the order they are given within the input vector. 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. Callback group to execute this timer's callback in. get_namespace() will return the original node namespace, and will not include the sub-namespace if one exists. remove_on_set_parameters_callback(scoped_callback.get()). The default values are 0.01 seconds for all three parameters. 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. This method will result in any callback registered with add_on_set_parameters_callback to be called, once for each parameter. @clalancette i updated my feature description. But i shouldn't reject it either. I have another case of a driver for an experimental camera that is even more complex. See get_sub_namespace() and get_effective_namespace() for examples. Sign in if the allocation of the OnSetParametersCallbackHandle fails. 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. Usage #include "rclcpp/rclcpp.hpp" allows use of the most common elements of the ROS 2 system. The callback to be called when the value for a parameter is about to be set. Return the sub-namespace, if this is a sub-node, otherwise an empty string. 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". The output where the value of the parameter should be assigned. rclcpp provides the standard C++ API for interacting with ROS 2. The list of parameter names to get the types. 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. const char* rclcpp::Node::get_fully_qualified_name, rclcpp::CallbackGroup::SharedPtr rclcpp::Node::create_callback_group. Create a sub-node, which will extend the namespace of all entities created with it. Given a list of parameter names, it will request an update of the values subject to validation of the values. In this case, how do you provide feedback that the parameter has been adjusted (e.g. I did not know about the asynchronous on_parameter_event. I am also working on some improvements right now so that you can have read-only parameters. Like set_parameter() this method will implicitly undeclare parameters with the type rclcpp::PARAMETER_NOT_SET. Create a new node with the specified name. will be placed before each key, which would have been the case when naively expanding "namespace.key". the namespace of the node associated with the name. If that callback prevents the initial value for any parameter from being set then rclcpp::exceptions::InvalidParameterValueException is thrown. In all cases, the parameter is never set or declared within the node. When a callback returns a not successful result, the remaining callbacks aren't called. rclcpp: ROS Client Library for C++ rclcpp provides the canonical C++ API for interacting with ROS. wouldn't it be better if i could accept it in condition that the parameter value is clamped to 100.0? Could you copy the code? The names of the parameters to be retrieved. Return the Node's internal NodeLoggingInterface implementation. That means that we'd have to change the signature of the parameter callbacks again. 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, , If undeclared parameters are allowed, then a default initialized descriptor will be returned for the undeclared parameter's descriptor. tf::createQuaternionFromYaw equivalent in ros2, Define custom messages in python package (ROS2). Tetris.h Tetris.cpp Block.h Block.cpp Map.h Map.cppcppkey.cppros2rviz2ros2rviz2Tetrisrclcpp::Node . Resetting or letting the smart pointer go out of scope unregisters the callback. If you pass multiple rclcpp::Parameter instances with the same name, then only the last one in the vector (forward iteration) will be set. void rclcpp::Node::remove_on_set_parameters_callback. Please start posting anonymously - your entry will be published after you log in or create a new account. The ParameterVarient includes ARRAY types natively, The get_value method on the variant will return the vector value. The map contains default values for parameters. 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. I don't think anyone is currently working on this, so help here would be appreciated. Delete a handler returned by add_on_set_parameters_callback. 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(). The sub-namespace should be relative, and an exception will be thrown if the sub-namespace is absolute, i.e. 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. Is there a way to get a parameter from the Parameters Server as unsigned type? There are many ways to get that information. If the exception is thrown then none of the parameters will have been set. If ignore_overrides is true, all the overrides of the parameters declared by the function call will be ignored. 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. That means that we'd have to change the signature of the parameter callbacks again. Return the NodeOptions used when creating this node. Note: in this particular case the driver SDK immediately returns the adjusted value which simplifies the logic. Return the Node's internal NodeParametersInterface implementation. If the parameter was declared, and therefore has a value, then it is assigned into the "parameter" argument of this method. Get the value of a parameter by the given name, and return true if it was set. Get value of parameter using rclcpp::ParameterType as template argument. An optional, custom description for the parameter. If a callback tries to do any of the latter things, rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown. The name expansion is naive, so if you set the namespace to be "foo. URDF Rviz GazeboURDF Rviz Gazebo URDFRvizURDFRvizURDFGazebo, rviz_demosrcsrc, myroboturdflaunchurdfdemo01_base.urdfdemo01_launch.py, CMakeListx.txtLaunchURDF. Declare and initialize a parameter, return the effective value. Return the Node's internal NodeServicesInterface implementation. For the more general case of being able to modify the parameters while in the parameter callback, what you propose would indeed work. If no parameter_descriptor is given, then the default values from the message definition will be used, e.g. Construct a sub-node, which will extend the namespace of all entities created with it. We don't have it in the demos but there are tests covering it you can use as an example, here. This method is used to declare that a parameter exists on this node. Register a callback to be called anytime a parameter is about to be changed. rcl_interfaces::msg::SetParametersResult rclcpp::Node::set_parameters_atomically. rcl_interfaces::msg::ParameterDescriptor rclcpp::Node::describe_parameter, if the number of described parameters is more than one. The registered callbacks are called when a parameter is set. The latter, one parameter name, which is why I figured get_parameters wouldn't work. template, template, template, template. Otherwise, the parameter names and values will be stored in the map and true will be returned to indicate "values" was mutated. 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. But after that, any change to any parameter won't be taken into account. Return the effective namespace that is used when creating entities. Comments There's no reason I'm aware of that we don't have that function, probably just haven't needed it yet. if any of the parameters have not been declared and undeclared parameters are not allowed. 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 callback functions must remain valid as long as the returned smart pointer is valid. 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