rapid_ros

rapid_ros contains utilities for common ROS features.

ROS Parameters

When using ROS parameters, it is preferred to set all parameters in a config file and not specify any default values in the code. Use functions like rapid::GetStringParamOrThrow, rapid::GetDoubleParamOrThrow, etc. to read parameters from the ROS parameter server. These will throw a runtime error if the parameter does not exist.

#include "rapid_ros/params.h"

double foo = rapid::GetDoubleParamOrThrow("foo");

Simulation time

When working in simulation, you should wait for time to start. Otherwise, you may find that ros::Time::now() is zero.

#include "rapid_ros/time.h"

rapid::WaitForTime();