ros2 parameter namespace

manage complexity through composition of simpler systems (launch files) allow including of other launch files. A parameter namespace can be set when declaring a new parameter, e.g. When logging an entire system, the parameter changes can be logged via standard topic recording of the events channel. This article is proposed design for the interfaces for interacting with parameters in ROS 2. Parameters are used to configure nodes at startup (and during runtime), without changing the code. Once implemented, start using that functionality in rclpy . Yes, the double asterisk workaround does work! The parameter will be set on all nodes launched after the SetParameter action, also applying to any included launch files. This can be done as of ROS Foxy. The ability to register callback to validate parameter updates prior to them being updated is not available. In that way it would have affected both turtlesim nodes, but yeah - parameters are now dedicated to one node.. The problem described in this report has been addressed in #377. rviz2 does not show the images published on the topic, ROS2 service only sometimes present in python, ros2 osrf docker container fails to build, Creative Commons Attribution Share Alike 3.0. This includes unsetting groups of parameter values atomically, but may be a special case of setting groups of parameters atomically. Each parameter consists of a key and a value. The full name returned from declare_parameters(ns, [(name, default)]) is ns + name but we expect ns + '.' The node will be responsible for validating current values. Based on that criteria an ideal system would be able to: This includes setting groups of parameter values atomically. here config.yaml is the parameter file. The node could enforce this by rejecting unexpected names, but there are some cases where knowing the expected parameter names would be useful for developer tools. Other resources related to the parameter design process for ROS 2 include: Thibaults nodeparam draft REP: https://github.com/tkruse/rep/blob/nodeparam/nodeparam-REP.rst. For example, I have my parameter server node running with the full name /foo/parameter_blackboard, then the code to create the parameter client should look like this:. Obviously the result might be different when the values are set shortly after but it would allow to implement validators in e.g. A pattern developed in ROS 1.0 was the searchParam mode where a parameter could be set in a namespace and the parameter query would walk up the namespace to search for the parameter. The success or failure of this call will be available to the client for each update unit. I guess it's just another option for organizing node parameters in ROS2. @wjwwood thoughts? A similar behavior can . Both persisting beyond the duration of a specific node is valuable as well as having parameters with no specific association to a node which would potentially own or validate the values. You signed in with another tab or window. A similar behavior can be implemented by allowing the search parameter implementation to walk across the different nodes in hierarchical order. Provide notifications when parameters are added and removed or their value has been changed. I can't seem to find any other references to a parameter namespace in ros2. It provided a service based interface to interact with parameters of other nodes. Set parameter successful. However, in python I believe the wrong validation check is performed. This would also include the ability to convey at least part of the criteria for the acceptance of a change to external actors. Array datatypes support a variety of use cases, e.g.. The definition of the services to use for interacting remotely are contained in the rcl_interfaces package. Personally, I suggest going for the first one. Make the validation just an empty check temporarily as in, Note: I suggest making the check empty temporarily rather than waiting for the fix at, Implement the check in Python. Each node is responsible for providing the following functionality. The text was updated successfully, but these errors were encountered: We discussed with @gbiggs and @mikeferguson during the Nav2 WG and I think we came to the conclusion that yes we need a convention everywhere that includes a prefix as in the example given above: node.name.param. Not sure if this is this is the same issue, related, or a separate issue, but my team has observed what we believe to be incorrect namespacing behaviour in declare_parameters. Provide visibility into what parameters are expected to pass validation vs be rejected. Perhaps this would be faster than implementing it in. , C++"error: funciton in namespace 'std' does not name a template type", error: xxx in namespace std does not name a type, vcstool node.declare_parameter(node.get_name() + '.diagnostics_update', 1).value. auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node, "/foo/parameter_blackboard"); Already on GitHub? Arrays should not be abused, however; users should rely on namespacing and explicit variable names wherever possible. A prefix parameter namespace is allowed via ROS2 (see rcl_yaml_param_parser), however. We focus here on specifying the system design and leave the implementation unspecified. To cover the feature set above, the ROS 2 parameter system is proposed as follows. By clicking Sign up for GitHub, you agree to our terms of service and It is expected to operate at a slightly higher level than parameters, and it possibly will be related to the component life cycle. This modifies the rostopic and rosnode names for different ROS2 packages, allowing for multiple instances of the same ROS2 node . Summary. Specific instances could be launched in different namespaces to support different parameter persistence models. E.g. ie. I actually forgot I had asked this question. This functionality will be exposed through a user API which will support both local API calls as well as invocations on remote nodes via a ROS Service API. Fixing namespace expansion for declare_parameters. Sign in the parameters could be queried incrementally for a tree-like GUI. $ ros2 run ros2_tutorials test_params_rclcpp. The node could also implement persistence of the parameters to reload the previous values after being restarted. The above specification has been prototyped; the implementation can be found in rclcpp. Going forward, there are still topics to discuss and flesh out either in this document or others. Wrap rclcpp::Node with basic Lifecycle behavior? In this document: # In another terminal: Only homogenous arrays of datatypes will be supported. Provide clear rules on the lifetime of a parameter. For the sake of validating parameter lifecycle, all parameters will be hosted on a node. to your account. parameter 'foo' on node 'node' would be /node/foo) in the parameter server. So, you start to write a ROS2 application and as you progress, you add more nodes, more features, more settings. There are use cases where the older behavior with parameter server was useful. You signed in with another tab or window. If the parameter server node has a namespace, then the client must include the namespace when it is created. This includes getting groups of parameter values atomically. $ ros2 param set /test_params_rclcpp motor_device_port "abc". While the use of array parameters increases the complexity of the API, their omission would necessitate complex naming schemes for parameters like matrices, which are common in robotics. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Search parameter behavior. Have a question about this project? Able to declare a parameter with namespace in the form of 'namespace.parameter_name'. To display the type and current value of a parameter, use the command: ros2 param get <node_name> <parameter_name>. The client libraries will provide the following API for interfacing with the Core Parameter API for both local and remote nodes including return codes. The updated values can include unsetting the value. Address all parameters without ambiguity in the names. If you have 2 robots with namespaces /robot1 and /robot2, then you might want to have a different set of "global" parameters for each robot. In ROS 1 the parameters were implemented in a blackboard model with unrestricted read and write access from all nodes. 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. The launch system in ROS 2 will: convert common ROS concepts like remapping and changing the namespace into appropriate command line arguments and configurations for nodes so the user doesn't have to do so. It is useful to consider an ideal system to understand how it would work and how it would relate to the current system. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. For example, one of the challenges of the current system is that there is a naming ambiguity between nodes and parameters /foo/bar/baz could be a node /foo/bar/baz or a private parameter baz on node /foo/bar. in Python: You can then get a parameter in this namespace with: The namespace can also be seen as parameter prefix, thus all parameter within a specific namespace can be retrieved with: Thanks! The parameters held by this parameter server node would persist for the lifetime of the parameter server node. update: parameters expect a list of config files. Have a question about this project? Given a list of parameter names, it will request an update of the values subject to validation of the values. This is to avoid the unnecessary complexity of the introspection needed to handle multidimensionality and heterogeneity within the arrays. A similar behavior can . To set a single parameter on all nodes in the same scope of a launch file, you can use the SetParameter action. Backwards compatibility Parameter Server like behavior, Predeclared interface to support static checking/validation, https://groups.google.com/forum/#!topic/ros-sig-ng-ros/YzCmoIsN0o8, https://groups.google.com/forum/#!searchin/ros-sig-ng-ros/parameter/ros-sig-ng-ros/fwDBcei5Ths/L6ORPfjUDXYJ, https://github.com/abellagonzalo/dynamic_config, http://wiki.ros.org/sig/NextGenerationROS/Parameters, https://github.com/tkruse/rep/blob/nodeparam/nodeparam-REP.rst. A prefix parameter namespace is allowed via ROS2 (see rcl_yaml_param_parser), however. You can currently register for a callback on all changes for parameters of a node. Currently there a few parts of the specification unimplemented. I am proposing some upstream changes to resolve the event's source node, but for now it is not case. Sign in What exactly is a "parameter namespace"? Let's make a test. branch humbleTurtleBot3ubuntu22.04ROS2 humble . A pattern developed in ROS 1.0 was the searchParam mode where a parameter could be set in a namespace and the parameter query would walk up the namespace to search for the parameter. In the navigation2 code, there are instances where we should establish convention . If you now start the node, you will see that the 3 parameters are set, and the default value for "my_str" parameter is not used. Specific instances could be launched in different namespaces to support different parameter persistence models. Provide a list of parameter names which are currently set. On terminal 2, modify a parameter. It is expected that client libraries will implement the ability to register callbacks for specific parameter changes using this topic. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. Parameters are addressed by node name, node namespace, parameter name, and parameter namespace. In ROS2, parameters are hosted on the node itself with no such fully qualified scope. An ideal system would support for the combined use cases of ROS 1.0s built-in parameters as well as ROS 1.0s dynamic parameters system. No parameter subscription registration. In the navigation2 code, there are instances where we should establish convention on which parameters should receive a prefix, if not all parameters. In that case I am wondering why not by default the . Just like in the cpp demos, I'd like to be able to namespace parameters in the form of .. Purpose of visibility_control files in ros packages, ROS2 Foxy Gazebo spawn_entity [SystemPaths.cc:459] File or path does not exist [""]. to your account. a GUI generically. Search parameter behavior. These rules would define what the lifetime of the parameter will be and what conditions will clear its value. This is useful to distinguish between parameters which live on the same node or namespace. https://docs.ros.org/en/foxy/Concepts Parameters are addressed by node name, node namespace, parameter name, and parameter namespace. namespaces are utilized. privacy statement. To this end we propose to write a simple node which emulates the policy of the ROS 1.0 parameter server: it runs in namespace / and simply accepts all changes requested. I've opened a ticket to track the implementation for parameter name validation in #380 as a feature request. If you want to start your node manually, start it as stated in @PSAs answer: ros2 run demo_nodes_cpp talker __params:=demo_params.yaml. privacy statement. Make the validation just an empty check temporarily as in rclcpp, and file a feature request in rcl to add topic name validation. in Python: self.declare_parameters( namespace="ns", parameters= [ ("bar", "default_value")], ) You can then get a parameter in this namespace with: bar = self.get_parameter("ns.bar") The namespace can also be seen as parameter prefix, thus all parameter within a specific . Note: I suggest making the check empty temporarily rather than waiting for the fix at rcl level since this issue might be blocking other developments in the . In ROS2, parameters are hosted on the node itself with no such fully qualified scope. robot1: global_parameter_server: ros__parameters: my_global_param: "Hello from robot1". Specific instances could be launched in different namespaces to support different parameter persistence models. A parameter namespace can be set when declaring a new parameter, e.g. I'll file a ticket and send a PR with a fix. One of the common shortcomings was for setting parameters on drivers. Validation of the values is expected to return as quickly as possible and only be related to accepting or rejecting the set request. The text was updated successfully, but these errors were encountered: Thanks for the report. + name. The data model proved useful in many cases, but there were many cases where the lack of control or ownership proved to be a problem. A tool called dynamic_reconfigure was developed to address this use case. This is something which should be addressed in conjunction with the new launch system. In the config/ folder, create 2 files: robot1_global_params.yaml. The key is a string value. Looking at the error output, it looks like the validation for topic names is applied rather than parameters. This type of information would be used to generate generic user interfaces, but might not capture all criteria. 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. C++"xxx" in namespace "std' does not name a type .cppcondition_variable . Given a list of parameter names, return their datatype. Their lifetime will be implicitly tied to the nodes lifetime. /cc @sloretz. Providing a parameter namespace is optional. Create a YAML file for the occupancy map parameters called carter_hospital_navigation.yaml and place it in the maps directory which is located in the sample carter_navigation ROS2 package . Given a list of parameter names it will return the parameter values. Each node will provide a topic on which parameter events will be published. For example, to set the ROS parameter use_sim_time for all nodes in a launch . In rclcpp the only validation being performed ATM is checking that the name is not empty: https://github.com/ros2/rclcpp/blob/e7c463dc74849aa64cb8a74e13f2a57b4ed59862/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp#L376-L379. A pattern developed in ROS 1.0 was the searchParam mode where a parameter could be set in a namespace and the parameter query would walk up the namespace to search for the parameter. For example, communicating the range for an integer or a few choices for a string. can change during run-time), if duplicate parameters exist across nodes in same namespace, we could either create a separate namespace for each node or create a prefix for those parameters, Any duplicate parameters existing on the same node should be given unique prefix. Well occasionally send you account related emails. Which will return the value: Integer value is: 86. This is useful to distinguish between parameters which live on the same node or namespace. Open 2 terminals. Since the validation criteria can be arbitrary complex and can potentially not be communicated to a client the parameter server could offer to validate an atomic set of parameters and respond with a boolean flag if the values would be accepted (based on the current criteria). The ability to list and get expected validation policy has not been implemented. On node namespaces, this issue affects parameter events and whether nodes on the same namespace have duplicate parameter names or receive callbacks from other nodes on its namespace. It has some detail on parameter namespaces. Please start posting anonymously - your entry will be published after you log in or create a new account. On terminal 1, start the node. Already on GitHub? For single parameter assignment, use either --param name:=value or -p name:=value where value is in YAML format. The lifetime of a parameter is tied to the lifetime of the node (though the node could implement some sort of persistence to reload values after restart). 3 ros2 param get. 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. All parameters will be addressed by two elements: the full node name and the parameter name. $ colcon build --symlink-install , =>1ld08_driverauto type specifier without trailing return type, /opt/ros/humble/include/rosidl_runtime_cpp/rosidl_runtime_cpp/bounded_vector.hpp:477:3: error: emplace_back function uses auto type specifier without trailing return type 477 | auto, file: /home/frank/tb3_ws/src/utils/ld08_driver/CMakeLists.txt, SET(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}"), SET(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}"), if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif(), 2ld08_drivererror: variant in namespace std does not name a template type, error: variant in namespace std does not name a template type 786 | using CallbackInfoVariant = std::variant<, note: std::variant is only available from C++17 onwards. An implementation of the playback mechanism could listen to the parameter event streams and invoke the set parameter calls via the remote API. By clicking Sign up for GitHub, you agree to our terms of service and @joncppl That seems to be a separate issue; thanks for pointing it out. At the time I believe I was confused about why you'd need parameter namespace in addition to the node namespace. For multiple parameter assignments, use --params-file path/to/file.yaml and a parameters YAML file. note: std::variant is only available from C++17 onwards2 : if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) endif(), SET(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}"), 1.1:1 2.VIPC, Ubuntu22.04ROS2 Humbleturtlebot3, branch humbleTurtleBot3ubuntu22.04ROS2 humble, 05-https://zhangrelay.blog.csdn.net/article/details/112756752 Now if you look at terminal 1 where the node is running: $ ros2 run my_cpp_pkg test_params_callback. This implies that some entity has the authority to reject or accept a change based on arbitrary criteria. The full complement of datatypes of different bitdepth and unsigned types are avoided to allow interpretation from text based configuration files. It should not take into account how the changed value may or may not affect ongoing system performance of the node or the greater system. Simply create a Parameter object, using 2 arguments: the parameter's name and value. The events are published, but there is not way to register a callback for changes to a specific parameter. In ROS1, parameters were scoped under the node (i.e. Let's find out the current value of /turtlesim 's parameter background_g: ros2 param get /turtlesim background_g. Let's make a quick test. The node can validate incoming parameter changes and either accept or reject them. mkdir -p ~/tb3_ws/src $ cd ~/tb3_ws #humble $wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/humble-devel/turtlebot3.repos, (~/tb3_ws/turtlebot3.repos), repositories: turtlebot3/turtlebot3: type: git url: https://github.com/ROBOTIS-GIT/turtlebot3.git version: ros2-devel turtlebot3/turtlebot3_msgs: type: git url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git version: ros2-devel turtlebot3/turtlebot3_simulations: type: git url: https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git version: ros2-devel utils/DynamixelSDK: type: git url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git version: ros2-devel utils/hls_lfcd_lds_driver: type: git url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git version: ros2-devel utils/ld08_driver: type: git url: https://github.com/ROBOTIS-GIT/ld08_driver.git version: ros2-devel $ vcs import src < turtlebot3.repos, github.comip/etc/hostsip, 2. We could have all parameters be prefixed with its host node, For dynamic parameters (i.e. When updating a value it can be valuable to know if the parameter update would be accepted without actually requesting the change to happen. vcstool, variantunionboost, , https://blog.csdn.net/wycheny2011/article/details/127966465. The parameter names returned are namespace concatanated with the parameter name, without a separating . As a quick summary of ROS command line capabilities: For name remapping, use either --remap from:=to or -r from:=to. Unlike topic name validation, AFAIK there is no function to validate a parameter name at rcl level and perhaps it would be a good idea to have it. A few to highlight: There are several ways to load parameters at startup including command line arguments, roslaunch arguments, and potentially parameter files. There has been no work on logging and playback of logged parameter changes. Well occasionally send you account related emails. Since the number of parameters might be large this needs to be able to provide subsets of the parameters. This topic is to support monitoring parameters for change. The ability to declare an API which can help with static checks and prevent logical errors which arise from setting the wrong parameter based on a typo. The value can be one of the following datatypes: The datatypes are chosen as non-complex datatypes, as defined in the interface definitions article. 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