The ROS tooling have recently be updated to support all types of parameters. It allows to define them for a single component or for a deployable system by giving a name, a type and,optionally, a default value. Also it gives to the user the possibility of instantiate a pre-defined parameter defined within a component and set or re-set a new value at the system composition level, additionally the Xtext validators includes checks to verify that the new value satisfied the original type definition of the parameter. All of these rules where implemented based not only on the ROS1 parameter concept but also prepared to support ROS2. Finally the launch file generator have also been updated to create the parameters tags.
ipa-nhg
commented
4 years ago
The ROS tooling have recently be updated to support all types of parameters. It allows to define them for a single component or for a deployable system by giving a name, a type and,optionally, a default value. Also it gives to the user the possibility of instantiate a pre-defined parameter defined within a component and set or re-set a new value at the system composition level, additionally the Xtext validators includes checks to verify that the new value satisfied the original type definition of the parameter. All of these rules where implemented based not only on the ROS1 parameter concept but also prepared to support ROS2. Finally the launch file generator have also been updated to create the parameters tags.
For further information: Ros model parameters, ROS system parameters re-set and Launch file generator examples .
The next step is the map of these models to the SeRoNet , like for example https://github.com/Servicerobotics-Ulm/ComponentRepository/blob/master/ComponentRobotinoBaseServer/model/ComponentRobotinoBaseServer.componentParameters .
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Documentation SeRoNet parameters: http://www.servicerobotik-ulm.de/toolchain-manual/html/ch02s03s02.html#UsingToolchain_ComponentDevelopmentView_CompModeling_CompParameters