configs.rst

Configs

YAML Configuration files for leagues below are included in the package:

• spl.yaml - RoboCup Standard Platform League
• hl_kid.yaml - RoboCup Humanoid League Kid Size
• hl_adult.yaml - RoboCup Humanoid League Adult Size

You can also write your own config files instead of using ones provided.

ROS 2 CLI

When using ros2cli (ros2 run) to run your node, load the config (replace hl_adult.yaml with your desired config) as below:

ros2 run soccer_vision_3d_rviz_markers visualizer --ros-args --params-file $(ros2 pkg prefix --share soccer_vision_3d_rviz_markers)/config/hl_adult.yaml

Launch File

When running the node from a launch file, load the config (replace hl_adult.yaml with your desired config) and pass it to the node constructor as below:

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
    ld = LaunchDescription()
    config = os.path.join(
        get_package_share_directory('soccer_vision_3d_rviz_markers'),
        'config',
        'hl_adult.yaml'
        )

    node = Node(
        package='soccer_vision_3d_rviz_markers',
        executable='visualizer',
        parameters=[config]
        )
    ld.add_action(node)
    return ld