YAML / RosLaunch debug suggestion

asked 2014-12-04 07:59:41 -0600

corb
339 ●5 ●10 ●14

For some complicated Roslaunch setups, it can be tough to figure out where a parameter came from. I've added the following line to each YAML file and it helps me tremendously. The tag is "source" and the value is the YAML file name:

For example in arm.yaml: source: arm.yaml

When ROSLaunch executes, you'll see the parameters print out something like this and you can immediately tell where the params came from.

/arbotix/joints/gripper_joint/max_angle: 0
/arbotix/joints/gripper_joint/max_speed: 50
/arbotix/source: arm.yaml
/arbotix/write_rate: 25

Does anyone see a downside to this or better approach?

edit retag flag offensive close merge delete

add a comment

1

answered 2014-12-05 02:41:26 -0600

Dan Lazewatsky
9115 ●79 ●103 ●160 http://dan.lazewatsky.com/

I'd suggest bringing this up with the roslaunch SIG, where it can be discussed in detail. It may be possible to build a feature like this into roslaunch - a few other additions have been made recently to make launch files easier to understand and debug.

edit flag offensive delete link

Comments

Thanks - will do

corb ( 2014-12-05 20:34:59 -0600 )edit

add a comment

0

answered 2014-12-05 02:14:44 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

One possible issue with this I can see is if you have multiple yaml files all contributing to the same parameter namespace (so all putting parameters under /foo fi). iiuc if all files also have a source parameter, the last file loaded will set the value of the source parameter.

If all yaml files load into different namespaces, then this is not an issue, of course.

edit flag offensive delete link

Comments

That's definitely an issue, but also a feature since that was one of the problems I was tracking down - which file was applied last.

corb ( 2014-12-05 20:35:39 -0600 )edit

add a comment

YAML / RosLaunch debug suggestion

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

YAML / RosLaunch debug suggestion edit

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

YAML / RosLaunch debug suggestion