ros::param Namespace Reference

Contains functions which allow you to query the parameter server. More...

Typedefs
typedef std::map< std::string, XmlRpc::XmlRpcValue >	M_Param

Functions
ROSCPP_DECL bool	del (const std::string &key)
	Delete a parameter from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::string &s)
	Get a string value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, double &d)
	Get a double value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, float &f)
	Get a float value from the parameter server (internally using the double value). More...
ROSCPP_DECL bool	get (const std::string &key, int &i)
	Get an integer value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, bool &b)
	Get a boolean value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server. More...
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::string &s)
	Get a string value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, double &d)
	Get a double value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, float &f)
	Get a float value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, int &i)
	Get an integer value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, bool &b)
	Get a boolean value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server, with local caching. More...
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server, with local caching. More...
bool	getImpl (const std::string &key, XmlRpc::XmlRpcValue &v, bool use_cache)
bool	getImpl (const std::string &key, std::string &s, bool use_cache)
bool	getImpl (const std::string &key, double &d, bool use_cache)
bool	getImpl (const std::string &key, float &f, bool use_cache)
bool	getImpl (const std::string &key, int &i, bool use_cache)
bool	getImpl (const std::string &key, bool &b, bool use_cache)
template<class T >
bool	getImpl (const std::string &key, std::vector< T > &vec, bool cached)
template<class T >
bool	getImpl (const std::string &key, std::map< std::string, T > &map, bool cached)
ROSCPP_DECL bool	getParamNames (std::vector< std::string > &keys)
	Get the list of all the parameters in the server. More...
ROSCPP_DECL bool	has (const std::string &key)
	Check whether a parameter exists on the parameter server. More...
void	init (const M_string &remappings)
void	invalidateParentParams (const std::string &key)
template<typename T >
bool	param (const std::string &param_name, T &param_val, const T &default_val)
	Assign value from parameter server, with default. More...
template<typename T >
T	param (const std::string &param_name, const T &default_val)
	Return value from parameter server, or default if unavailable. More...
void	paramUpdateCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL bool	search (const std::string &ns, const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key. More...
ROSCPP_DECL bool	search (const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name. More...
ROSCPP_DECL void	set (const std::string &key, const XmlRpc::XmlRpcValue &v)
	Set an arbitrary XML/RPC value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::string &s)
	Set a string value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const char *s)
	Set a string value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, double d)
	Set a double value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, int i)
	Set an integer value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, bool b)
	Set a bool value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::vector< std::string > &vec)
	Set a string vector value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::vector< double > &vec)
	Set a double vector value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::vector< float > &vec)
	Set a float vector value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::vector< int > &vec)
	Set an integer vector value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::vector< bool > &vec)
	Set a bool vector value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, std::string > &map)
	Set a string->string map value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, double > &map)
	Set a string->double map value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, float > &map)
	Set a string->float map value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, int > &map)
	Set a string->int map value on the parameter server. More...
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, bool > &map)
	Set a string->bool map value on the parameter server. More...
template<class T >
void	setImpl (const std::string &key, const std::vector< T > &vec)
template<class T >
void	setImpl (const std::string &key, const std::map< std::string, T > &map)
ROSCPP_DECL void	unsubscribeCachedParam (const std::string &key)
	Unsubscribe cached parameter from the master. More...
ROSCPP_DECL void	unsubscribeCachedParam (void)
	Unsubscribe all cached parameter from the master. More...
void	update (const std::string &key, const XmlRpc::XmlRpcValue &v)
template<class T >
T	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<>
double	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<>
float	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<>
int	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<>
bool	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<class T >
bool	xml_castable (int XmlType)
template<>
bool	xml_castable< bool > (int XmlType)
template<>
bool	xml_castable< double > (int XmlType)
template<>
bool	xml_castable< float > (int XmlType)
template<>
bool	xml_castable< int > (int XmlType)
template<>
bool	xml_castable< std::string > (int XmlType)

Variables
M_Param	g_params
boost::recursive_mutex	g_params_mutex
S_string	g_subscribed_params

Detailed Description

Contains functions which allow you to query the parameter server.

Typedef Documentation

M_Param

typedef std::map<std::string, XmlRpc::XmlRpcValue> ros::param::M_Param

Definition at line 48 of file param.cpp.

Function Documentation

del()

bool ros::param::del

(

const std::string &

key

)

Delete a parameter from the parameter server.

Parameters

key	The key to delete.

Returns

true if the deletion succeeded, false otherwise.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 228 of file param.cpp.

get() [1/16]

bool ros::param::get	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 409 of file param.cpp.

get() [2/16]

bool ros::param::get	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 414 of file param.cpp.

get() [3/16]

bool ros::param::get	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server (internally using the double value).

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 419 of file param.cpp.

get() [4/16]

bool ros::param::get	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 424 of file param.cpp.

get() [5/16]

bool ros::param::get	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 429 of file param.cpp.

get() [6/16]

bool ros::param::get	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 434 of file param.cpp.

get() [7/16]

bool ros::param::get	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 604 of file param.cpp.

get() [8/16]

bool ros::param::get	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 608 of file param.cpp.

get() [9/16]

bool ros::param::get	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 612 of file param.cpp.

get() [10/16]

bool ros::param::get	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 616 of file param.cpp.

get() [11/16]

bool ros::param::get	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 620 of file param.cpp.

get() [12/16]

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 675 of file param.cpp.

get() [13/16]

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 679 of file param.cpp.

get() [14/16]

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 683 of file param.cpp.

get() [15/16]

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 687 of file param.cpp.

get() [16/16]

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 691 of file param.cpp.

getCached() [1/16]

bool ros::param::getCached	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 439 of file param.cpp.

getCached() [2/16]

bool ros::param::getCached	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 444 of file param.cpp.

getCached() [3/16]

bool ros::param::getCached	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 449 of file param.cpp.

getCached() [4/16]

bool ros::param::getCached	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 454 of file param.cpp.

getCached() [5/16]

bool ros::param::getCached	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 459 of file param.cpp.

getCached() [6/16]

bool ros::param::getCached	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 464 of file param.cpp.

getCached() [7/16]

bool ros::param::getCached	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 625 of file param.cpp.

getCached() [8/16]

bool ros::param::getCached	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 629 of file param.cpp.

getCached() [9/16]

bool ros::param::getCached	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 633 of file param.cpp.

getCached() [10/16]

bool ros::param::getCached	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 637 of file param.cpp.

getCached() [11/16]

bool ros::param::getCached	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 641 of file param.cpp.

getCached() [12/16]

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 696 of file param.cpp.

getCached() [13/16]

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 700 of file param.cpp.

getCached() [14/16]

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 704 of file param.cpp.

getCached() [15/16]

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 708 of file param.cpp.

getCached() [16/16]

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns

true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 712 of file param.cpp.

getImpl() [1/8]

bool ros::param::getImpl	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v,
		bool	use_cache
	)

Definition at line 257 of file param.cpp.

getImpl() [2/8]

bool ros::param::getImpl	(	const std::string &	key,
		std::string &	s,
		bool	use_cache
	)

Definition at line 319 of file param.cpp.

getImpl() [3/8]

bool ros::param::getImpl	(	const std::string &	key,
		double &	d,
		bool	use_cache
	)

Definition at line 330 of file param.cpp.

getImpl() [4/8]

bool ros::param::getImpl	(	const std::string &	key,
		float &	f,
		bool	use_cache
	)

Definition at line 354 of file param.cpp.

getImpl() [5/8]

bool ros::param::getImpl	(	const std::string &	key,
		int &	i,
		bool	use_cache
	)

Definition at line 363 of file param.cpp.

getImpl() [6/8]

bool ros::param::getImpl	(	const std::string &	key,
		bool &	b,
		bool	use_cache
	)

Definition at line 398 of file param.cpp.

getImpl() [7/8]

template<class T >

bool ros::param::getImpl	(	const std::string &	key,
		std::vector< T > &	vec,
		bool	cached
	)

Definition at line 577 of file param.cpp.

getImpl() [8/8]

template<class T >

bool ros::param::getImpl	(	const std::string &	key,
		std::map< std::string, T > &	map,
		bool	cached
	)

Definition at line 647 of file param.cpp.

getParamNames()

bool ros::param::getParamNames

(

std::vector< std::string > &

keys

)

Get the list of all the parameters in the server.

Parameters

keys	The vector of all the keys

Returns

false if the process fails

Definition at line 717 of file param.cpp.

has()

bool ros::param::has

(

const std::string &

key

)

Check whether a parameter exists on the parameter server.

Parameters

key	The key to check.

Returns

true if the parameter exists, false otherwise

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 211 of file param.cpp.

init()

void ros::param::init

(

const M_string &

remappings

)

Definition at line 826 of file param.cpp.

invalidateParentParams()

void ros::param::invalidateParentParams

(

const std::string &

key

)

Definition at line 53 of file param.cpp.

param() [1/2]

template<typename T >

bool ros::param::param	(	const std::string &	param_name,
		T &	param_val,
		const T &	default_val
	)

Assign value from parameter server, with default.

This method tries to retrieve the indicated parameter value from the parameter server, storing the result in param_val. If the value cannot be retrieved from the server, default_val is used instead.

Parameters

	param_name	The key to be searched on the parameter server.
[out]	param_val	Storage for the retrieved value.
	default_val	Value to use if the server doesn't contain this parameter.

Returns

true if the parameter was retrieved from the server, false otherwise.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 619 of file param.h.

param() [2/2]

template<typename T >

T ros::param::param	(	const std::string &	param_name,
		const T &	default_val
	)

Return value from parameter server, or default if unavailable.

This method tries to retrieve the indicated parameter value from the parameter server. If the parameter cannot be retrieved, default_val is returned instead.

Parameters

param_name	The key to be searched on the parameter server.
default_val	Value to return if the server doesn't contain this parameter.

Returns

The parameter value retrieved from the parameter server, or default_val if unavailable.

Exceptions

InvalidNameException

If the key is not a valid graph resource name.

Definition at line 651 of file param.h.

paramUpdateCallback()

void ros::param::paramUpdateCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 795 of file param.cpp.

search() [1/2]

bool ros::param::search	(	const std::string &	ns,
		const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters

	ns	The namespace to begin the search in
	key	the parameter to search for
[out]	result	the found value (if any)

Returns

true if the parameter was found, false otherwise.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 752 of file param.cpp.

search() [2/2]

bool ros::param::search	(	const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters

	key	the parameter to search for
[out]	result	the found value (if any)

Returns

true if the parameter was found, false otherwise.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 747 of file param.cpp.

set() [1/16]

void ros::param::set	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Set an arbitrary XML/RPC value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
v	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 67 of file param.cpp.

set() [2/16]

void ros::param::set	(	const std::string &	key,
		const std::string &	s
	)

Set a string value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 94 of file param.cpp.

set() [3/16]

void ros::param::set	(	const std::string &	key,
		const char *	s
	)

Set a string value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 102 of file param.cpp.

set() [4/16]

void ros::param::set	(	const std::string &	key,
		double	d
	)

Set a double value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
d	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 111 of file param.cpp.

set() [5/16]

void ros::param::set	(	const std::string &	key,
		int	i
	)

Set an integer value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
i	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 117 of file param.cpp.

set() [6/16]

void ros::param::set	(	const std::string &	key,
		bool	b
	)

Set a bool value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
b	The value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 123 of file param.cpp.

set() [7/16]

void ros::param::set	(	const std::string &	key,
		const std::vector< std::string > &	vec
	)

Set a string vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 145 of file param.cpp.

set() [8/16]

void ros::param::set	(	const std::string &	key,
		const std::vector< double > &	vec
	)

Set a double vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 150 of file param.cpp.

set() [9/16]

void ros::param::set	(	const std::string &	key,
		const std::vector< float > &	vec
	)

Set a float vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 155 of file param.cpp.

set() [10/16]

void ros::param::set	(	const std::string &	key,
		const std::vector< int > &	vec
	)

Set an integer vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 160 of file param.cpp.

set() [11/16]

void ros::param::set	(	const std::string &	key,
		const std::vector< bool > &	vec
	)

Set a bool vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 165 of file param.cpp.

set() [12/16]

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, std::string > &	map
	)

Set a string->string map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 186 of file param.cpp.

set() [13/16]

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, double > &	map
	)

Set a string->double map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 191 of file param.cpp.

set() [14/16]

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, float > &	map
	)

Set a string->float map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 196 of file param.cpp.

set() [15/16]

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, int > &	map
	)

Set a string->int map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 201 of file param.cpp.

set() [16/16]

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, bool > &	map
	)

Set a string->bool map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException

if the key is not a valid graph resource name

Definition at line 206 of file param.cpp.

setImpl() [1/2]

template<class T >

void ros::param::setImpl	(	const std::string &	key,
		const std::vector< T > &	vec
	)

Definition at line 130 of file param.cpp.

setImpl() [2/2]

template<class T >

void ros::param::setImpl	(	const std::string &	key,
		const std::map< std::string, T > &	map
	)

Definition at line 171 of file param.cpp.

unsubscribeCachedParam() [1/2]

void ros::param::unsubscribeCachedParam

(

const std::string &

key

)

Unsubscribe cached parameter from the master.

Parameters

key	the cached parameter to be unsubscribed

Definition at line 804 of file param.cpp.

unsubscribeCachedParam() [2/2]

void ros::param::unsubscribeCachedParam

(

void

)

Unsubscribe all cached parameter from the master.

Definition at line 813 of file param.cpp.

update()

void ros::param::update	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Definition at line 781 of file param.cpp.

xml_cast() [1/5]

template<class T >

T ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 469 of file param.cpp.

xml_cast() [2/5]

template<>

double ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 516 of file param.cpp.

xml_cast() [3/5]

template<>

float ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 531 of file param.cpp.

xml_cast() [4/5]

template<>

int ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 546 of file param.cpp.

xml_cast() [5/5]

template<>

bool ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 561 of file param.cpp.

xml_castable()

template<class T >

bool ros::param::xml_castable

(

int

XmlType

)

Definition at line 474 of file param.cpp.

xml_castable< bool >()

template<>

bool ros::param::xml_castable< bool >

(

int

XmlType

)

Definition at line 508 of file param.cpp.

xml_castable< double >()

template<>

bool ros::param::xml_castable< double >

(

int

XmlType

)

Definition at line 484 of file param.cpp.

xml_castable< float >()

template<>

bool ros::param::xml_castable< float >

(

int

XmlType

)

Definition at line 492 of file param.cpp.

xml_castable< int >()

template<>

bool ros::param::xml_castable< int >

(

int

XmlType

)

Definition at line 500 of file param.cpp.

xml_castable< std::string >()

template<>

bool ros::param::xml_castable< std::string >

(

int

XmlType

)

Definition at line 479 of file param.cpp.

Variable Documentation

g_params

M_Param ros::param::g_params

Definition at line 49 of file param.cpp.

g_params_mutex

boost::recursive_mutex ros::param::g_params_mutex

Definition at line 50 of file param.cpp.

g_subscribed_params

S_string ros::param::g_subscribed_params

Definition at line 51 of file param.cpp.