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rosinterface_handler

Package Summary

A unified parameter handler for nodes with automatic code generation. Save time on defining your parameters, publishers and subscribers. No more redundant code. Easy error checking. Make them dynamic with a single flag.

• Maintainer status: maintained
• Maintainer: Kevin Rösch kevin.roesch@kit.edu
• Author: Claudio Bandera cbandera@posteo.de, Fabian Poggenhans fabian.poggenhans@fzi.de
• License: BSD

Unified Interface Handling for ROS

When working with ROS, there usually a lot unneccessary and error-prone boilerplate code involved when writing new nodes. There are also a couple of tools to to be handled correctly, e.g. Parameter Server and dynamic_reconfigure.

With the multitude of options on where to specify your parameters and how to configure your publishers and subscribers, we often face the problem that we get a redundancy in our code and config files.

The rosinterface_handler let's you:

• specify your whole interface to the ROS world in a single file
• automatically create publishers and subscribers
• use a generated struct to hold your parameters
• use member method for grabbing the parameters from the parameter server
• use member method for updating them from dynamic_reconfigure.
• make your parameters configurable with a single flag.
• set default, min and max values
• choose between global and private namespace
• use parameters of type long (64 bit integers)
• save a lot of time on specifying your parameters in several places.
• ...in both C++ and Python

Usage

See the Tutorials on

• How to write your first .rosif file
• How to use your parameter struct
• How to use long parameters

Installation

Download and build this package in your catkin workspace.

Credits

This project is built upon a fork from the great rosparam_handler.