parameters.cpp
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00001 /*
00002  * Copyright (C) 2010, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include <ros/ros.h>
00029 
00030 int main(int argc, char** argv)
00031 {
00032   ros::init(argc, argv, "parameters");
00033   ros::NodeHandle n;
00034 
00035   {
00036 // %Tag(NH_GETPARAM_SIMPLE)%
00037     std::string s;
00038     n.getParam("my_param", s);
00039 // %EndTag(NH_GETPARAM_SIMPLE)%
00040   }
00041 
00042   {
00043 // %Tag(NH_GETPARAM_CHECK_RETURN)%
00044     std::string s;
00045     if (n.getParam("my_param", s))
00046     {
00047       ROS_INFO("Got param: %s", s.c_str());
00048     }
00049     else
00050     {
00051       ROS_ERROR("Failed to get param 'my_param'");
00052     }
00053 // %EndTag(NH_GETPARAM_CHECK_RETURN)%
00054   }
00055 
00056 // %Tag(NH_PARAM_INT)%
00057   int i;
00058   n.param("my_num", i, 42);
00059 // %EndTag(NH_PARAM_INT)%
00060 
00061 // %Tag(NH_PARAM_STRING)%
00062   std::string s;
00063   n.param<std::string>("my_param", s, "default_value");
00064 // %EndTag(NH_PARAM_STRING)%
00065 
00066 // %Tag(NH_SETPARAM)%
00067   n.setParam("my_param", "hello there");
00068 // %EndTag(NH_SETPARAM)%
00069 
00070 // %Tag(NH_DELETEPARAM)%
00071   n.deleteParam("my_param");
00072 // %EndTag(NH_DELETEPARAM)%
00073 
00074 // %Tag(NH_HASPARAM)%
00075   if (!n.hasParam("my_param"))
00076   {
00077     ROS_INFO("No param named 'my_param'");
00078   }
00079 // %EndTag(NH_HASPARAM)%
00080 
00081 // %Tag(NH_SEARCHPARAM)%
00082   std::string param_name;
00083   if (n.searchParam("b", param_name))
00084   {
00085     // Found parameter, can now query it using param_name
00086     int i = 0;
00087     n.getParam(param_name, i);
00088   }
00089   else
00090   {
00091     ROS_INFO("No param 'b' found in an upward search");
00092   }
00093 // %EndTag(NH_SEARCHPARAM)%
00094 }


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Sun Mar 20 2016 04:51:17