How to set and change parameters in ROS 2
In short: Learn how to configure and adjust parameters in ROS 2, whether at startup or runtime, using command-line tools or APIs. This is essential for customizing node behavior dynamically.
ROS 2 allows you to set and change parameters in multiple ways, depending on whether you're starting a node or modifying a running one. At startup, you can define initial parameter values using launch files or YAML files when launching a node. This lets you configure a node's behavior before it starts running.
Once a node is running, you can use the `ros2 param` command to modify parameters dynamically. This is useful for adjusting settings on the fly without restarting the node. Additionally, ROS 2 provides APIs in its client libraries, such as `rclcpp` for C++ and `rclpy` for Python, which allow you to get, set, and monitor parameter changes in real time.
You can also register callbacks to respond to parameter changes. For example, a pre-set callback can modify the parameter list before a change is applied, while a post-set callback lets you react after the change has been accepted. These features make ROS 2 flexible for dynamic system configuration.
Based on: ROS 2 Documentation — Parameters · Licence: CC BY 4.0 · View source →
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- Source: ROS 2 Documentation: Parameters · CC BY 4.0
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