Parameter

Within a ROS Node GenericDomainModel, a parameter is represented by a GenericDomainModelParameter with the following Attributes.

Attributes	Value	Description
Value	[value]	Default value - can be a String, Float, Integer, or Boolean
Attribute 0	arg / arg_1_hyphen / arg_2_hyphen / param / remap	Method used to map parameter into ROS Node

If the CyPhy Master Interpreter is run, these Attributes will be used to populate the parent ROS Node Model’s corresponding node element in the generated ROS .launch file.

The ROS mapping method is determined by Attribute 0’s Value:

arg or [empty]

<node name=... pkg=... type=...
  args="[GenericDomainModelParameter name] [value] ..."
/>

Unless the [GenericDomainModelParameter name] ends with an underscore - e.g. count_, then the [GenericDomainModelParameter name] is ommitted.

<node name=... pkg=... type=...
  args="[value] ..."
/>

Note

ROS Node args passed in will be sorted by [GenericDomainModelParameter name] in alphanumerical order.

---

arg_1_hypen

<node name=... pkg=... type=...
  args="-[GenericDomainModelParameter name] [value] ..."
/>

---

arg_2_hypen

<node name=... pkg=... type=...
  args="--[GenericDomainModelParameter name] [value] ..."
/>

---

param

<node name=... pkg=... type=... >
  <param name="[GenericDomainModelParameter name]" value="[value]" />
</node>

---

remap

<node name=... pkg=... type=... >
  <remap from="[GenericDomainModelParameter name]" to="[value]" />
</node>