The reading position of the turtlebot3 configuration item in the source code

L001103 · November 4, 2022, 7:48am

hello everyone
I have a question about the source code of turbobot3
For example: in turbobot3_ The. yaml file in the slam package stores related configuration items
Then I want to know where these configuration items are read in the source code??

willson · November 8, 2022, 8:48am

@L001103
By launching the slam node, each parameter will be read in the launch configuration as below.
Parameters in the yaml files are predefined in each slam method.

github.com

ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_slam/launch/turtlebot3_gmapping.launch#L14


      
            <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
            <arg name="set_base_frame" default="base_footprint"/>
            <arg name="set_odom_frame" default="odom"/>
            <arg name="set_map_frame"  default="map"/>
          
          
  <!-- Gmapping -->
            <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
              <param name="base_frame" value="$(arg set_base_frame)"/>
              <param name="odom_frame" value="$(arg set_odom_frame)"/>
              <param name="map_frame"  value="$(arg set_map_frame)"/>
              <rosparam command="load" file="$(find turtlebot3_slam)/config/gmapping_params.yaml" />
            </node>
          </launch>

L001103 · November 9, 2022, 3:18am

Thank you for your answer. I have one more question:

He reads the entire configuration file here. Where are each configuration item used (in the source code? Or in the firmware?)

willson · November 18, 2022, 4:57am

Hi @L001103

Please refer to the gmapping ROS package.
The parameters section describes the use of defined params.
http://wiki.ros.org/gmapping#Parameters

Thanks!

L001103 · January 6, 2023, 8:52am

Thank you for your answer. I have one more question:

I have read these information, thank you for your advice)

But I want to know where these parameters are used (in the code?)

willson · January 27, 2023, 12:25am

@L001103

Sorry about the late reply.
You need to look into the gmapping source code to find out where those params are used.