That would be really helpful. launch_ros.parameter_descriptions module. Creating a launch file. type="str|int|double|bool|yaml"(optional) value="value"(optional) Defines the value of the parameter. Launch ROS 2 Launch files allow you to start up and configure a number of executables containing ROS 2 nodes simultaneously. Edit: re-reading the OP's request, there might actually be a way -- although it won't be 'overriding' anything. I have the following launch file, in which I am defining a parameter: <launch> <arg name="coordinates_file" value="$ (find pkg_name)/name_of_the_txt_file.txt"/> <node pkg="pkg_name" type="ros_node_name" name="launch_file_name"> <rosparam file="$ (arg coordinates_file)"/> </node> </launch> Evaluate and return parameter rule. Getting, setting and deleting parameters from a rospy Node is fairly simple. roslaunch is an important tool that manages the start and stop of ROS nodes. Using Parameters in rospy. The approach you suggest cannot guarantee that all nodes see the same parameters, as your script will likely have been started after a couple other nodes have already been running, and before a few others. So it might be useful. Getting parameters Parameters can be called inside their nodes by doing # get a global parameter rospy.get_param('/global_param_name') # get a parameter from our parent namespace Launching and monitoring multiple nodes. You can also start all your parameters and your node from a single launch file (it's also possible to set all your parameters in a YAML file ). Namespaces can be included in the parameter name, but globally specified names should be avoided. Getter for parameter name. 1 ros launch get param in launch file to append to param from config file melodic ROS launch get param append from config file override asked Sep 15 '20 noob_ros 21 6 8 8 Using a common configuration file (not to be modified) - package_config.yaml: param0: param0_value param1: param1_value . Accessing these parameters from a python node is quite easy as is shown on this wiki page. And this is for good reason: it keeps everything consistent (ie: all parameters defined in .launch files are present on the parameters server, so all nodes see the same values). I did not find an way to use subst_value that allow me to read from the parameter server. Using a common configuration file (not to be modified) - package_config.yaml: Is it possible to append and override certain params only through the launch file? But it works if you are launching a second file. For example: I know that param overriding from the launch file is allowed (calling after loading params from yaml file ). rosparam supports the subst_value attribute, which makes roslaunch accept substitution args in the .yaml. ros launch get param in launch file to append to param from config file, Creative Commons Attribution Share Alike 3.0. Getter for parameter value. Description: This tutorial covers the various ways in which you can get and set Parameters in rospy. The .xml launch files do not support reading from the ROS parameter server. This has been discussed before: parameters are written before nodes are started. That way you should be able to get folder path, and you can add a conditional argument (bool), if that is set to true it will launch the second launch. $(param param0)) in the param server from a launch file. For this example, I will refer to the following (as asked in this question ), so how can we execute those commands consecutively & automatically : my_launch.launch file example: Then you can just roslaunch my_launch.launch value=:. If the values he wants to override can be passed as roslaunchargs, he could 'read' those using substitution args. Is there any way to append to existing params from a launch file? Attributes name="namespace/name" Parameter name. You are right, the approach I proposed does not append the value prior to the starting of the nodes. I want to take the distance value and degree value from the client node and control it with Python. You can add another arg to select the variable in the ROS parameter server you want to append to. 2 Answers Sorted by: 7 Parameters set in a launch file are stored at the ROS parameter server. You may wish to view the "param_talker" tutorial in the rospy_tutorials Package. <launch> <param name="my_integer" type="int" value="7" /> <param name="my_float" type="double" value="3.14" /> <param name="my_string" type="str" value="hello" /> Describes a ROS parameter. . It uses a roslaunch file to initialize some Parameters and . If this attribute is omitted, binfile, textfile or command must be specified. It takes one or more "*.launch" files as arguments. Then you can call this script from your .launch files passing the .xml arguments to the python function. Learn how to create a launch file that will start up nodes and their configurations all at once. You can go around this limitation by creating a simple python script which reads from the parameter server, concatenates the value, and then stores the concatenated value back to the parameter server. Parameters are either set within a launch file or taken from the command line and passed to the launch file, and then used within scripts themselves. Do you have an example? 2 answered Jul 12 '18 Choco93 685 9 37 24 updated Jul 12 '18 You can use <include> tag to add 2nd launch file in the first one. Describes a ROS parameter file. Getter for allow substitutions argument. Your first launch file should be something like this. But (for some reason that is beyond me) there is no way to access params (e.g. Please start posting anonymously - your entry will be published after you log in or create a new account. Module for a description of a Parameter. Get a more advanced overview of how launch files work. Getter for parameter value type. The client node and control it with python ROS 2 launch files do support. 2 Answers Sorted by: 7 parameters set in a launch file be... Their configurations all at once some reason that is beyond me ) there no! 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