For single parameter assignment, use either --param name:=value or -p name:=value where value is in YAML format. Or I set the value wrong for the new wrapper. For more background on parameters, please see the concept document. As an example, . Thanks very much @daziFR for your test. For reference, as of this post, ROS2 has had three releases. Summary. privacy statement. The problem is introduced with added support for dashing and eloquent. You are learning ROS2. Passing config_file argument for ROS2 Wrapper v3.1.5, tf2_ros::StaticTransformBroadcaster does not keep last msg for later subscription, static tf broadcaster: workaround transient local durability (master branch), Dashing StaticTransformBroadcaster late subscription, Passing config_file arg at launch results on failing to parse the argument, Trying to launch the camera with a default yaml file. Intel releases new ROS2 wrapper supporting foxy, eloquent and dashing. Prerequisites Well occasionally send you account related emails. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. While Crystal Clemmens supports Python nodes, the previous release, Bouncy Bolson, does not. With this fix issue mentioned above is gone. For testing purposes I tried to apply patch and it does work, but as you mentioned, there might be another solution. With ros1 I have a launch file that refers to a config file and from cpp code I use node.getParam launch file: But this introduced problem with foxy. Does Intel plan to support dashing, and include this missing patch? Parameters written in rs_launch.py or given as cmdl argument are loaded correctly. $ ros2 param list parameter_blackboard a_string some_int some_lists.some_doubles some_lists.some_integers Setting parameters from YAML files Parameters can be set from the command-line in the form of yaml files. The current actively developed ROS2 wrapper is unrelated to that older wrapper and so a fix made for that old wrapper could likely not be applied directly to the current wrapper.". ros2 asked Dec 24 '18 ezra 51 2 4 6 Migrating ros1 package to ros2 and couldn't figure how to launch with a paramter in ros2. to your account. RealSense ROS does now support ROS2 Dashing, Eloquent and Foxy with a single ROS2 wrapper. With run : (If you don't know how to use params in your code, check out this rclpy params tutorial and this rclcpp params tutorial .) As a complete beginner? Similarly, future releases may add additional support for how/where to input config files. Check image: If I run rviz2 first, and then node, this works fine. You signed in with another tab or window. Hi @MartyG-RealSense, this works fine with the wrapper intended for foxy only (v3.1.3 and v3.1.4). I've modified rs_launch.py by moving all the configurable parameters into d435i.yaml file and updating config_file default value in rs_launch.py. Next steps Background A parameter is a configuration value of a node. As a quick summary of ROS command line capabilities: For name remapping, use either --remap from:=to or -r from:=to. I suggest creating an issue about it on the RealSense ROS forum. what are camera profile options for the D435i in ROS2. From commits, change from ' ' to " ' ' " in configurable_parameters default values and in IfCondition is done for dashing support. Already on GitHub? Thanks @MartyG-RealSense, I've created new issue on the RealseSense ROS forum. I hope this issue will be reviewed by the Intel ROS2 wrapper developers. You use ROS2 params in your nodes because that's a nice way to set parameters at run time, without having to modify (+recompile) the file containing the code for the node. The solution that you identified for the static tf broadcaster is for a ROS2 wrapper that is now obsolete and no longer supported. There is another problem with wrapper v3.1.5 when using Dashing. Fixed by dawonn-haval commented on Jun 21, 2020 I used ros2 param dump /exampleConfig to generate exampleConfig.yaml. Sign in The text was updated successfully, but these errors were encountered: Hi @daziFR As a starting point in investigating your case, a ROS2 case from February 2021 in the link below provides a demonstration of configuration with a yaml file that may provide useful insights. There is an issue with dashing: tf2_ros::StaticTransformBroadcaster does not keep last msg for later subscription and a solution for intel wrapper: static tf broadcaster: workaround transient local durability (master branch). TSC21 mentioned this issue on Jun 4, 2021 Passing config_file arg at launch results on failing to parse the argument IntelRealSense/realsense-ros#1913 MartyG-RealSense mentioned this issue on Aug 20, 2021 Trying to launch the camera with a default yaml file IntelRealSense/realsense-ros#2043 Closed MartyG-RealSense mentioned this issue on Jan 25 Thanks! How to launch a node with a parameter in ROS2? You can think of parameters as node settings. [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: 'config/d435i.yaml' The current actively developed ROS2 wrapper is unrelated to that older wrapper and so a fix made for that old wrapper could likely not be applied directly to the current wrapper. Create a ROS2 global parameter server node ros2 launch realsense2_camera rs_launch.py If node is run before rviz2, Fixed frame cannot be modified. I agree. For multiple parameter assignments, use --params-file path/to/file.yaml and a parameters YAML file. Thanks! With the given proposal problem is solved. https://github.com/IntelRealSense/realsense-ros/tree/ros2. Given the solution that you described above for Foxy, do you still have a problem that needs to be solved please? In ROS 2, each node maintains its own parameters. Have a question about this project? By clicking Sign up for GitHub, you agree to our terms of service and At the time of writing this though, the Debian package versions of the ROS wrapper are temporarily inaccessible. A node can store parameters as integers, floats, booleans, strings, and lists. https://github.com/IntelRealSense/realsense-ros/issues. Hi @daziFR Do you require further assistance with this case, please? Thanks very much for the RealSense ROS issue creation. Launch file Configuration Compile and run Get a ROS2 global param in your code Python Cpp Add a namespace to make your ROS2 global params less global ROS2 global parameters: good idea or not? IntelRealSense/realsense-ros#1814 (comment). file path not recognized as file ros2 launch foxy ros2 asked Jul 7 '22 kyubot 60 10 18 19 updated Jul 7 '22 Hello, I am running ros2-foxy on ubuntu 20.04 I am writing a launch file to combine two node at once. See here for examples of the yaml file syntax. and parameters are not loaded correctly. warning is printed: 2 Answers Sorted by: 2 For ROS2, please see this link and this link. Additionally, parsing config_file fails in dashing too: Additional info, If I make change in rs_launch.py: in ros2 foxy, parameters from config_file do get parsed and there is no warning any more "parameter file is not a file". "The solution that you identified for the static tf broadcaster is for a ROS2 wrapper that is now obsolete and no longer supported. Is introduced with added support for dashing and eloquent problem with wrapper when... 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D435I in ROS2 the value wrong for the static tf broadcaster is for a ROS2 global parameter server node launch! To support dashing, eloquent and foxy with a parameter is a value... Commits, change from ' ' to `` ' ' to `` ' ' to `` ' ' to '. Node maintains its own parameters name: =value where value is in YAML format to be solved please hope issue. ' to `` ' ' `` in configurable_parameters default values and in is. Fixed by dawonn-haval commented on Jun 21, 2020 I used ROS2 param dump /exampleConfig to generate exampleConfig.yaml path/to/file.yaml..., do you still have a problem that needs to be solved please for parameter... Background a parameter in ROS2 node ROS2 launch realsense2_camera rs_launch.py If node is run before rviz2, fixed can. ' `` in configurable_parameters default values and in IfCondition is done for dashing eloquent. Default value in rs_launch.py or given as ros2 parameter file path is not a file: argument are loaded correctly value of node! For reference, as of this post, ROS2 has had three.. And no longer supported testing purposes I tried to apply patch and it does work, as... And the community parameter assignment, use either -- param name: =value where value is YAML... Creating an issue and contact its maintainers and the community given the solution that you for! Include this missing patch a ROS2 wrapper that is now obsolete and longer... Intel ROS2 wrapper I run rviz2 first, and lists now support dashing... Another problem with wrapper v3.1.5 when using dashing and it does work, but as mentioned. The solution that you identified for the D435i in ROS2 server node ROS2 launch realsense2_camera rs_launch.py If node is before! Use either -- param name: =value where value is in YAML format is a configuration value of node!
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