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pythonparametersrosargs

Passing Array of dict as parameter to ros launch

I want to pass an array of dict as parameter to launch file and retrieve these arrays at the node. How can I achieve this. Not finding any example or pseudo-code regarding this. Newbie ros user. Regards

Solution

  • For this, you should use rosparams. This will let you pass in data in a YAML format. If loading the params in a python node they will come in as a dict, if c++ they will come in as a std::map.

    For example, if you wanted it to behave like:

    my_dict = {key1: {iKey1: val1, iKey2: val2}, key2: [1,2,3], key3: something_else}

    your launch file would look like this:

    <rosparam>
    my_dict:
        key1:
            iKey1: val1
            iKey2: val2
        key2: [1,2,3]
        key3: something_else
</rosparam>