The next set of steps is a continuation of Part 1. Nope! . With a launch file you can write all the nodes with a complete configuration (remapping, parameters, etc.) Namespace. Lets try publishing on camera topic, which should be processed in perception for trash detection. Well occasionally send you account related emails. Use the output of processed file (URDF) as parameters for a node. I managed to find a solution for the first two steps, but now I have an issue with the third one. Well, launch files can do much more. In this part, we improved our project with launch files and parameters. a collection of actions to be launched in order of appearance, plus launch arguments for callers to provide, either through a tool or by inclusion. Description. ROS2 parameter in launch file with node namespace, Creative Commons Attribution Share Alike 3.0. Sign in to comment Assignees dhood Labels enhancement Projects None yet Milestone crystal "Could not find parameter robot_description_semantic" URDF ROS . Every 5 seconds, brain will request for perception cameras battery status, which is something we already. We know that ROS 2 launch files enable you to pass arguments on the command line.For example, you might be able to run the following command to make sure that SLAM is launched when the launch file is run.ros2 launch my_robot_bringup bringup.launch .py slam:=True. Lets say you have a launch file in ROS 2 named bringup.launch.py. robot_description , robot_model_loader robot_description robot_model , 3: Here is the command: ros2 launch my_robot_bringup bringup.launch.py -s where -s stands for "show arguments". Launch file That might give you extra insight into what is going on. If that's the case, you need to modify the yaml file like you did, yes, but additionally you also need to remove the node_namespace='new_turtle' line from the launch file, to stop the node being put into the namespace. This file will hold the ROS2 global parameters we want in the application. ros2 param get. to your account. We then build all necessary packages and connected them together to bring our Robot to life. oh ok! The path to the parameters.yaml is correct (I print it in the launch python script). Getting Started With OpenCV in ROS 2 Galactic (Python), How to Display the Path to a ROS 2 Package, How to Install Ubuntu and VirtualBox on a Windows PC, How To Display Launch Arguments for a Launch File in ROS2, Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox. This issue has been mentioned on ROS Discourse. parameters="my_params.yaml") remappings: Remapping of node names, e . Does that sound right for your situation? You'll see the entire process to create, write, install, and start the launch file. It would be great to add how to use launch with a parameter file. Have a question about this project? parameters) that may be given to a launch file? By clicking Sign up for GitHub, you agree to our terms of service and Ill wait for you to guess! This servers as an example of parameter usage. URDF , "/path/to/robot_description.urdf" URDF "robot_description" , 2 ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true , Set parameter. I am using turtlesim for my tests. In that way it would have affected both turtlesim nodes, but yeah - parameters are now dedicated to one node. Only users with topic management privileges can see it. Each checkbox is intended to be one guide, with sublists providing more detail about what content could be included in the guide. Share Follow Step 2 Run robot.launch.py Remember to source ROS2 and the project. The exact commands I have in different terminals are as follows: ros2 launch gazebo_ros gazebo.launch.py and ros2 launch ros2_sim_pkg cam_bot_world.launch.py Surely there is a more streamlined method that I am just unaware of? Anyway, I want to have an additional turtlesim node in a different namespace /new_turtle starting up with the same yaml parameter file. The scenario is the following: Set parameter when calling launch file. The example launch file is: Line 24/47 to 51 After declaring parameters, we use ROS 2 API (in our custom method get_parameter_values) to get parameters values for trashDetection topic and componentStatus service. ROS2 parameter in launch file with node namespace ros2 eloquent yaml parameter launch namespace asked Apr 21 '20 RodBelaFarin 235 18 29 30 updated Apr 21 '20 From the following answer by @dhood it says that since Crystal modifications for the nodes name/namespace in launch files will also be taken into account for the parameter YAML file: Sign up for a free GitHub account to open an issue and contact its maintainers and the community. First we'll start with a simple launch file to start 2 nodes. You signed in with another tab or window. Probably we can just work on and expand that one. I think I see what you want now. in a single file, that you can launch with only one command line. E.g. Good to hear you got it doing what you wanted!! Note: this for ROS2 version Dashing Share Follow edited Sep 2, 2019 at 10:51 answered Aug 28, 2019 at 16:22 Floris Devreese Well, launch files can do much more. Your browser does not seem to support JavaScript. RViz, move_group_interface_tutorial, launch There might be relevant details there: https://discourse.ros.org/t/gsod-2021-ros2-tutorials-on-tf2-and-ros2-launch/20490/1. Node. See you again?Also, I currently have shelved the next 2 parts until I find time for another side project Im working on (also documenting on medium). I think a good spot for this is here: https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Parameters/Understanding-ROS2-Parameters.rst#7-load-parameter-file. calling ros2 launch myfirstpackage turtle.launch.py --ros-args --log-level debug ends in: And ros2 param list shows only the parameters from the node within the namespace: Not an answer, just a troubleshooting tip: you could try reading the debug output from the ROS 2 core as it is handling your parameter file. Line 28 to 45 Previously, we hardcoded the three values (2 topic names and 1 service name). NoScript). chatgptmoveit1 , 1: MoveIt! I think someone with broader ros2 architecture & design intent knowledge should review this issue briefly. Create guides for ROS2 launch and ROS2 parameters. Step 1 Create a launch fileCreate a launch directory, Add the following code to robot.launch.py , Lets look at what our launch file says . There are several ways to load parameters at startup including command line arguments, roslaunch arguments, and . I would say that's much more intentional and more user-friendly. We will see perception and brain processing this information, like before! did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds. oh, or you could try this approach with the double asterisks instead of specifying the node name! This description lays out the main roles of roslaunch from ROS 1 as: Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. Setup code and declare ROS2 params with rclcpp Declare params with rclcpp Run your node Get params with rclcpp Get params one by one Get a list of params Set default values Set params with rclcpp Allow undeclared parameters with rclcpp rclcpp parameter callback Going further with ROS2 params Setup code and declare ROS2 params with rclcpp But thanks @dhood. For example, you might be able to run the following command to make sure that SLAM is launched when the launch file is run. ROS2 YAML parameters Create a config/ folder at the root of your package, and put a YAML config file into it. If you start this node, and get each parameter in another window with. ros2 run some_package some_ros_executable --ros-args -r some_node:foo:=bar Single parameter assignments Parameter assignment may be achieved using the --param / -p option. In a ROS1/ROS2 project, launch files are used to run multiple nodes with one launch command. And what you are seeing is that you are only able to make the parameters apply to the /new_turtle/turtlesim node, but you want instead to have your node as just /turtlesim not in a namespace, and can't get the parameters to apply to it in that case? Now I want to have an additional turtlesim (well that was not clear - now I get it). You can also type: ros2 launch my_robot_bringup bringup.launch.py --show-arguments Tha't it. Solution: write your ROS parameters into a YAML file, and then load this file from a launch file. Well build unit and integration tests, and then use Docker and Github Actions for CI/CD. Comparing launch files written in YAML, XML, and Python ( Add guide for using Python, XML, and YAML in launch files #1468 ) Show all three examples. Already have an account? brain should then receive this information from perception and decide if it should command the actuator to move. That brings us to the next topic ROS2 parameters. We started this series by understanding our problem statement Building a Trash Collection Robot. Running each node individually in a big project is impractical. Love podcasts or audiobooks? But did it? Arguments and Parameters in Launch Files Astra Pro Depth Camera Setup BLDC Motor Guide Bouncy Objects in Gazebo Change object color within Gazebo Communicating with Rosserial Create Gazebo Maps: Tutorial Create Gazebo Maps Creating a gazebo world Creating launch files to launch multiple nodes DIY Gazebo World GPS Research and Information Now, we read these as parameters and use them to create publisher, subscriber, and service). Important : Remember that ros2 works on the launch file in the install/ directory and so you won't see the new behavior without running colcon build again to reinstall the file. Hello, I want to add two strings together, passed as LaunchConfiguration in my launch file. One a new terminal, we can try publishing on robot_one/camera again. Heres the problem we asked robot_one namespace to be used for the two nodes. The text was updated successfully, but these errors were encountered: Ivan made a good start with that in this PR: #1109 . Open a new terminal and while the system is up, run the following , We expected perception and brain to act on this information. I want to take the extrinsic parameters from this variable in the YAML file and assign them as the parameters of the static_transform_publisher to the arguments argument. Arguments are launch configuration variables just like the ones defined by <let> tags. Sign in We have the following minimum requirements to define . $ ros2 param get /test_params_rclpy my_str. It would also be good to have DDS troubleshooting across hosts. Don't be shy! As a result, your viewing experience will be diminished, and you have been placed in read-only mode. declares a launch file argument. How can we display all the different launch arguments (i.e. I haven't tried that myself but it looks like it might do what you want. Lets suppose this file is located inside a ROS 2 package named my_robot_bringup. parameters) that may be given to a launch file? In Part 0, we described our problem statement Build a Trash Collection Robot in ROS 2. Should you learn Python to earn money in 2021? In that case I am wondering why not by default the ros2 param dump command saves the *.yaml file using the /** instead of the node name. Lets move straight to all the changes we need to do now. Note To follow this lesson, you need to complete Part 0 and Part 1. So far, so good. But now we will set these using parameters and leverage our newly made launch file. We now have all the pieces in place to run our Trash Collection Robot with two new ROS 2 features launch files and parameters, If everything is correct, your nodes will start running . I think it makes sense to extend launch_ros to support the same file format as the --params-file flag in rcl. You could inspect the messages with rqt_console. 3 ros2 param get.. parameters: List of parameter files that are loaded for the Node (e.g. abb_control.launch.py, I have turtlesim and parameters that I want to have set, when I start the node. Now its time to improve our project with two ROS features Launch Files and Parameters. Also follow my LinkedIn page where I post cool robotics-related content. Step 2 Update brain node to use parametersThis is our new node file, brain_node.py. I am reading the all parameters found in the YAML file in the Launch file. How can I set the footprint of my robot in nav2? Connect with me onLinkedIn if you found my information useful to you. name of the launch argument. I am quite happy with what weve done. How can we display all the different launch arguments (i.e. Line 26/47 to 53 After declaring parameters, we use ROS 2 API (in our custom method get_parameter_values) to get parameters values for camera topic, trashDetection topic and componentStatus service. Is it that you want to make the node so it's _not_ in the namespace? Were done with building a functional project for our Trash Collection Robot. Lets talk about what changed in brain_node.py Like the node file above, we read topic and service names passed in the launch file as parameters. URDF . In child.launch.py you read in the passed argument like this: from launch.substitutions import LaunchConfiguration def generate_launch_description (): value= LaunchConfiguration ('argument_for_child', default='-') . Is a Fast Dev Cycle for Frameworks Viable? global_parameter_server: ros__parameters: my_global_param: "Test" For this example we just have one string parameter, named "my_global_param". In part 1, we ran perception and brain nodes separately using the following two commands . Already on GitHub? roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on. Since you know about ROS1, we dont need to describe ROS parameters. We know that ROS 2 launch files enable you to pass arguments on the command line. The following guides could be written for the ROS 2 documentation. Note: Check out Part 0 and Part 1 to understand how this series is set up. Add guide for using Python, XML, and YAML in launch files, Tutorial about using event handlers and substitutions in launch files, https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Parameters/Understanding-ROS2-Parameters.rst#7-load-parameter-file, Cover Python, XML, and YAML for all ROS2 launch guides, Show parameter override precedence in Node action. Why 0.1 + 0.2!= 0.3 happens in Python language? Thus, the nodes expect the topic to also be in the same namespace. Please download a browser that supports JavaScript, or enable it if it's disabled (i.e. URDFURDFRviz, ROSURDF, URDF, pandalaunch, @ ros2 param list |grep robot_description robot_descriptionrobot_description_semantic, @ robot_description, @Lorry RVizrobot_descriptionrobot_description_semanticlaunchabb_moveit.launch.py, @ launch, @Lorry chatgptmoveit, @ moveit2robot_description, @ rviz2moveit,robot_description, move_group_interface_tutorialrobot_description_semanticrobot_description, https://fishros.org.cn/forum/topic/741, @ param get move_grouppublish_robot_descriptionnot setmove_grouprobot_description, @ ,truerobot__description,,, @ semanticsemanticsrdfrobot_descriptionurdf, @ launchurdf, @ ,robot_description,ros2 topic echo /robot_description, @ ros2 param get robot_descriptionrobot_description_semantic, @ ,,,,, @ Could not find parameter robot_description_semantic and did . How do I do that? "Could not find parameter robot_description_semantic" URDF ROS , MoveIt! Arguments are limited to the scope of their definition and thus have to be explictly passed to included files if any. I assigned the values I read to the param variable. Step 3 Update launch file to use parameters, This is our new launch file, robot.launch.py . ros 2 launch xml schema v0.1.0 the root element of a launch file. Line 15 to 22 To use a parameter (both get and set), we first need to declare them here. Or, programmatically, you could create one python dictionary of parameters, and pass that to both Nodes in the launch file. In that case, you'd need _two_ entries in the yaml file, one for the node /turtlesim and /new_turtle/turtlesim, is that what you're doing? My goal is to meet everyone in the world who loves robotics. I hope you are too! Step 1 Update perception node to use parametersThis is our new(updated) node file, perception_node.py. Could not find parameter robot_description_semantic and did. (plus that log-level command doesn't seem to be used by ros2 launch in that way, oops!). For ROS2 developers, checkout the ROS2 YAML tutorial. By adding more indentations you can create nested parameters. Essentially, ROS2 currently has two different parameter file formats, which seems less than ideal. But were starting an undervalued, but extremely important section Building Test Infrastructure. Yes, the double asterisk workaround does work! Running Drupals PHPUnit test suites on DDEV, Learn Linux With Docker and Microsoft Container Image. We did not see anything on the terminal were using to run this system. Having said this, this is not how I would do what you want to do, to launch multiple identical UAVs. passing the parameter works fine but when I start the node with the launch python file. Let's get started! Id love to hear from you! Whats wrong? Learn on the go with our new app. In this section, well show how to use ROS 2 parameters using our launch file.Up until now, we hard coded topic and service names in node files. We will now use a launch file, which provides an interface to run multiple nodes at once (and much more). It includes options to automatically respawn processes that have already died. As pointed out by @dhood in the comments, using double asterisk in the *.yaml file solves my problem. The <arg> tag allows for launch file configuration via the command-line or when including it via an <include> tag. Also you might want to inspect the parameters on the nodes with ros2 param tools to know any parameters were applied or not. Thanks for the support - OK, let me try to explain it again, sorry for my misleading explanations. But Ill be back on this one soon, Building Robots https://www.youtube.com/@hummingbird19. I have found many answers on that regarding a boolean and to use conditions instead, but is there something simillar to work with the value of the launch description directly in the code? This option takes a single name:=value assignment statement, where value is in YAML format and thus YAML type inference rules apply. Namespaces. Writing the parameters into a launch file (XML) is a viable solution, but for hundreds of parameters, XML can be quite tedious. In Part 1, we set up the entire project with two custom packages perception and brain. /talker/set_parameters for the talker node in the demo_nodes_cpp package. Line 13 Since brain needs trashDetectionTopic name and componentStatusService name, we pass this information as a dictionary (key parameter name, value parameter value), Line 24 Since perception needs cameraTopic name, trashDetectionTopic name and componentStatusService name, we pass this information as a dictionary (key parameter name, value parameter value), Thats it! Create a shell script containing: #!/bin/sh ros2 service call /<node name>/set_parameters <service type> <your parameters> .and add it to your launch file. I am using a launch file to startup this setup. A Parameter object takes 3 arguments: name, type, and value. This topic has been deleted. This tutorial is for ROS1 users. MoveIt! But theres a difference this time both nodes are run using the launch file. From the following answer by @dhood it says that since Crystal modifications for the nodes name/namespace in launch files will also be taken into account for the parameter YAML file: I am using Ubuntu 18.04 in a VM with ROS Eloquent installed. In a ROS1/ROS2 project, launch files are used to run multiple nodes with one launch command. Now, we read these as parameters and use them to create publisher and service client. Keep building! If I am extending the node namespace in the YAML parameter file as following, it does work: The logging does also not work: (see https://index.ros.org/doc/ros2/Tutori for usage in other ROS 2 versions). ROS2 YAML parameters Create a config/ folder at the root of your package, and put a YAML config file into it. Thats all we need to understand launch basics at this point. For now I have to get around it by simply launching gazebo manually and then running my launch file in a separate terminal. Running each node individually in a big project is impractical. 1 You need to call the ROS 2 service /<node name>/set_parameters to trigger this callback. Passing an array of arrays of doubles from a yaml config file, terminal outputs appear after KeyboardInterrupt, Affix a joint when in contact with floor (humanoid feet in ROS2), Accessing node namespace from model plugin, ros2 transient_local durability (late joiners policy) does not work when using ros2 topic echo, can't launch Xtion Prolive with openni2.launch. @ pandamove_group. This section is imperative to build, maintain and scale a Robotics project. With a slight change in our previous launch file, we are ready to pass parameters to the two nodes. Set Parameters when running nodes via Launch files ros-planning/navigation2#150 Closed poonam1120 commented on Nov 23, 2018 Contributor sloretz commented on Nov 26, 2018 Sign up for free to join this conversation on GitHub . Line 27 and Line 41 Previously, we hardcoded the three values (1 topic name and 1 service name). ros2 launch realsense_ros2_camera ros2_intel_realsense.launch.py it ignores the parameter. You can enable the debug output in Eloquent by --ros-args --log-level debug to the end of your ros2 launchcall from the command line. Thanks for the edits - I think I misunderstood your original post. Welcome to AutomaticAddison.com, the largest robotics education blog online (~50,000 unique visitors per month)! Don't forget to add the dependency for the Parameter class. (e.g. Remapping. privacy statement. Launching other launch files ( Intermediate launch tutorial #2002 ) Simple include. First you write the name of the node, then "ros__parameters" with one indentation (2 or 4 spaces, recommended: 2), and then you can write the parameters with one more indentation. ROS2 launch files are a powerful tool for robotics applications. ros2 launch PKG_NAME LAUNCH_FILE number_of_uavs:=NUMBER There is probably a prettier way to parse the argument :) You do have to use the := notation, because ros2 launch does not let any other through. Line 13 to 24 To use parameters(both get and set), we first need to declare them here. There is a required minimal structure for ROS2 to know those are parameters to load for a given node. Solution: camera topic changes to robot_one/camera, If everyone was correct, you will see Publishing: I see trash" and Sending move request to actuator from perception and brain respectively. "Could not find parameter robot_description_semantic" , MoveIt! use the path to read a file ) EDIT: I found IfCondition(PythonExpression(["'", LaunchConfiguration('test . Line 6 Launch description object will contain complete information about all required nodes, Line 7/13 Each Node object needs information about that specific node (not limited to what is shown here). In my understanding of where we are going with the ROS 2 documentation, guides are different than tutorials in that they are not necessarily examples for readers to follow along, but rather are meant to be concise references for doing specific things in ROS 2. I changed my *.yaml as following and can now change the namespace or node name in my launch file: Please start posting anonymously - your entry will be published after you log in or create a new account. Use it as argument for xacro file holding robot description. Looks like your connection to was lost, please wait while we try to reconnect. Lets talk about what changed in perception_node.py Instead of hardcoding topic and service names, we now read them as parameters (which we will pass in our launch file). fixed value for the launch argument, . I didn't even tried it, because I was still thinking in a global parameter server as in ROS1 and I thought that this will affect ALL parameters with the name background_r for example. My turtlesim.yaml looks as follows: And that is the dedicated turtle.launch.py file: I am expecting now turtlesim to startup with a red background, but it is not affected and still got the default background. , you'll see the values set in the code. That's a new feature that wasn't available at the time of Crystal. 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