ROS Param Shortcuts

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::Affine3d
• Supports loading std::vectors easily, and debugging that data
• Supports loading an entire list of bool parameters

Developed by Dave Coleman at the University of Colorado Boulder

Status:

• Travis - Continuous Integration
• ROS Buildfarm - Trusty Devel Source Build
• ROS Buildfarm - AMD64 Trusty Debian Build

Install

Ubuntu Debian

sudo apt-get install ros-kinetic-rosparam-shortcuts

Build from Source

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 kinetic

Code API

See Class Reference

Usage / Demo

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::Affine3d - x, y, z, roll, pitch, yaw
  param5: [1.1, 2.2, 3.3, 4.4] # std::vector<double>

Testing and Linting

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

Contribute

Please send PRs for new helper functions, fixes, etc!

Changelog for package rosparam_shortcuts

0.2.1 (2016-09-28)

• Fix Eigen3 include
• Fix C++11 compiling method
• Update Travis for Kinetic
• Updated README
• Contributors: Dave Coleman

0.2.0 (2016-06-29)

• Upgrade to Eigen3 per ROS Kinetic requirements
• Converted to C++11 for ROS Kinetic
• Removed deprecated functions
• Improve documentation
• fix typo
• Added loading a vector to example
• Contributors: Dave Coleman, Sammy Pfeiffer

0.1.1 (2015-12-18)

• Fixed CMake build
• Ran roslint
• Ran catkin lint
• Updated example
• Contributors: Dave Coleman

0.1.0 (2015-12-17)

• Deprecated long named functions in favor of short named functions
• Removed redundant unsigned int function
• Contributors: Dave Coleman

0.0.7 (2015-12-13)

• Added shortcut version of functions
• Fix install
• Contributors: Dave Coleman

0.0.6 (2015-12-10)

• Added example code
• Contributors: Dave Coleman

0.0.5 (2015-12-09)

• Attempting to fix Eigen
• Fix missing dependency
• Contributors: Dave Coleman

0.0.4 (2015-12-07)

• Attempt to fix Eigen include dir
• Contributors: Dave Coleman

0.0.3 (2015-12-05)

• Added travis support
• catkin lint cleanup
• Switched travis to jade branch
• Contributors: Dave Coleman

0.0.2 (2015-12-03)

• Initial release
• Contributors: Dave Coleman