Setting parameters from launch file in ROS

Introduction

Setting parameters from a launch file lets you easily change values your robot uses without changing code. It helps you customize behavior before running your robot.

You want to set robot speed or sensor thresholds before starting nodes.

You need to share configuration values between multiple nodes.

You want to test different settings without rewriting code.

You want to keep your code clean by separating configuration from logic.

Syntax

ROS

<launch>
  <param name="parameter_name" value="parameter_value" />
  <node pkg="package_name" type="node_executable" name="node_name" />
</launch>

Use inside the tag to set parameters.

Parameters set here are available to all nodes launched in this file.

Examples

This sets a parameter robot_speed to 1.5 before starting the drive node.

ROS

<launch>
  <param name="robot_speed" value="1.5" />
  <node pkg="my_robot" type="drive_node" name="drive" />
</launch>

This sets a boolean parameter sensor_enabled to true for the sensor node.

ROS

<launch>
  <param name="sensor_enabled" value="true" />
  <node pkg="sensor_pkg" type="sensor_node" name="sensor" />
</launch>

This sets a string parameter robot_name to "Robo1" for the info node.

ROS

<launch>
  <param name="robot_name" value="Robo1" />
  <node pkg="robot_pkg" type="info_node" name="info" />
</launch>

Sample Program

This launch file sets two parameters: max_speed to 2.0 and use_lidar to true. Then it starts the controller_node which can use these parameters.

ROS

<launch>
  <param name="max_speed" value="2.0" />
  <param name="use_lidar" value="true" />
  <node pkg="robot_control" type="controller_node" name="controller" />
</launch>

Important Notes

Parameters set in the launch file override default values in code.

You can set parameters of different types: numbers, booleans, strings.

Use rosparam tag for loading parameters from YAML files if needed.

Summary

Use <param> tags in launch files to set parameters before nodes start.

This helps customize node behavior without changing code.

Parameters can be numbers, booleans, or strings.

Practice

1. What is the main purpose of using <param> tags in a ROS launch file?

easy

A. To start multiple nodes at the same time

B. To set parameters that nodes can use when they start

C. To define the order in which nodes run

D. To stop nodes after they finish

Solution

1. Step 1: Understand the role of <param> in launch files

   The <param> tag is used to set parameters that nodes read when they start running.

2. Step 2: Differentiate from other launch file tags

   Tags like <node> start nodes, but <param> specifically sets values nodes use.

3. Final Answer:

   To set parameters that nodes can use when they start -> Option B

4. Quick Check:

   Setting parameters = A [OK]

Hint: Remember: <param> sets values, <node> starts nodes [OK]

Common Mistakes:

• Confusing <param> with <node> tag
• Thinking <param> controls node start/stop
• Assuming <param> sets node execution order

2. Which of the following is the correct syntax to set a string parameter named robot_name to "R2D2" in a ROS launch file?

easy

A.

B.

C.

D.

Solution

1. Step 1: Check the correct attribute names

   The <param> tag requires 'name' for the parameter name and 'value' for its value.

2. Step 2: Verify proper quoting of string values

   String values must be inside quotes, so value="R2D2" is correct.

3. Final Answer:

   <param name="robot_name" value="R2D2" /> -> Option C

4. Quick Check:

   Correct attributes and quotes = B [OK]

Hint: Use name="" and value="" with quotes for strings [OK]

Common Mistakes:

• Missing quotes around string values
• Swapping name and value attributes
• Using incorrect attribute names

3. Given this launch file snippet:

<launch>
  <param name="speed" value="2.5" />
  <node pkg="robot_pkg" type="move_node" name="mover" />
</launch>

What will be the value of the speed parameter inside the move_node when it starts?

medium

A. 2.5 (as a float)

B. 0, the default value

C. Undefined, because parameters must be set inside the node tag

D. "2.5" (as a string)

Solution

1. Step 1: Understand parameter value types in launch files

   Values in <param> tags are treated as strings by default unless explicitly converted in code.

2. Step 2: Check the launch file snippet

   The value is "2.5" in quotes, so the parameter is set as a string "2.5".

3. Final Answer:

   "2.5" (as a string) -> Option D

4. Quick Check:

   Parameter values are strings by default = D [OK]

Hint: Parameter values are strings unless converted in code [OK]

Common Mistakes:

• Assuming numeric values are auto-converted to float
• Thinking parameters must be inside <node> tag
• Believing default values apply if parameter is set

4. Identify the error in this launch file snippet:

<launch>
  <param name="use_sim" value=true />
  <node pkg="sim_pkg" type="sim_node" name="simulator" />
</launch>

medium

A. The value true should be in quotes: value="true"

B. The param tag should be inside the node tag

C. The node tag is missing the required args attribute

D. The launch tag is missing a closing slash

Solution

1. Step 1: Check the value attribute format

   Boolean values in <param> tags must be strings, so true should be "true" in quotes.

2. Step 2: Verify tag placement and syntax

   The <param> tag can be outside the <node> tag, and the <launch> tag is correctly closed.

3. Final Answer:

   The value true should be in quotes: value="true" -> Option A

4. Quick Check:

   Boolean values need quotes in <param> = C [OK]

Hint: Always put boolean values in quotes in <param> tags [OK]

Common Mistakes:

• Leaving boolean values unquoted
• Placing <param> tags only inside <node>
• Misunderstanding launch tag syntax

5. You want to set a parameter max_retries to 5 only if it is not already set by another launch file. Which launch file tag should you use to achieve this?

hard

A.

B. 5

C.

D.

Solution

1. Step 1: Understand conditional parameter setting

   The <param> tag supports the 'unless' attribute to set a parameter only if it is not already set.

2. Step 2: Check the options for correct usage

   <param unless="max_retries" name="max_retries" value="5" /> uses 'unless="max_retries"' with name and value, which is the correct syntax.

3. Final Answer:

   <param unless="max_retries" name="max_retries" value="5" /> -> Option A

4. Quick Check:

   Use 'unless' attribute to avoid overwriting = A [OK]

Hint: Use 'unless' attribute to set param only if unset [OK]

Common Mistakes:

• Omitting the 'name' attribute when using 'unless'
• Using <rosparam> without condition
• Misplacing 'unless' attribute