|Note: This tutorial assumes that you have completed the previous tutorials: Creating a PSENscan application package.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
How to configure parameters with yamlDescription: Introduction how to store your application's parameters persistently with a yaml-file.
Keywords: PSENscan, psen_scan
Tutorial Level: BEGINNER
Next Tutorial: Launching multiple scanners
Storing the parameters
Navigate to your catkin workspace
Create a new directory where the yaml-file will go and navigate into it.
mkdir config cd config
Create a new yaml-file with your favorite editor.
Fill the yaml-file with key: value pairs that match the parameters you would like to store. Here ́s an example:
password: "ac0d68d033" sensor_ip: "192.168.0.10" host_ip: "192.168.0.25" host_udp_port: 55000
Note: The four parameters password, sensor_ip, host_ip and host_udp_port are always required. You can't omit them. For the rest of the parameters and their explanation please refer to our ROS API.
Note: The parameter password has to be specified in an encrypted format. The above password can be used as default.
Save the file and navigate up a folder, then create a launch directory and navigate into it
cd .. mkdir launch cd launch
Create a new launch-file with your favorite editor
Here ́s an example launch-file:
<launch> <node name="laser_scanner" type="psen_scan_node" pkg="psen_scan" output="screen" required="true"> <rosparam command="load" file="$(find psen_scan_tutorials)/config/config.yaml" /> </node> <node name="rviz" type="rviz" pkg="rviz" args="-d $(find psen_scan)/config/config.rviz" /> </launch>
The code explained:
<node name="laser_scanner" type="psen_scan_node" pkg="psen_scan" output="screen" required="true"> <rosparam command="load" file="$(find psen_scan_tutorials)/config/config.yaml" /> </node>
This starts the psen_scan_node and passes it the newly created config file.
<node name="rviz" type="rviz" pkg="rviz" args="-d $(find psen_scan)/config/config.rviz" />
This starts rviz with a predefined configuration.
Start the PSENscan application
Setup the network of the host accordingly. Connect the PSENscan laser scanner to the network and to the power source. Enter the following to start RVIZ together with the ROS-Node for the PSENscan application.
roslaunch psen_scan_tutorials psen_scan.launch