I',m trying to build my ros package with CMAKE_BUILD_TYPE=Release.
But if I build package and launch, nodes cannot properly read parameters from launch file.
I write launch file like below.
<launch>
<node pkg="rr_perception" type="rr_object_detection_node" name="rr_object_detection" output="screen" respawn="true">
<!-- input topics -->
<!-- <remap from="~input" to="/ouster/points" /> -->
<remap from="~input" to="/velodyne_points" />
<remap from="~obstacle" to="/yolov5/detections" />
<remap from="~feedback" to="/rr_erp42/feedback_ext" />
<!-- output topics -->
<remap from="~detection" to="/rr_object_detection/detection" />
<remap from="~is_estop" to="/rr_safety_manager/estop_msg" />
<rosparam>
lidar_height: 0.92
<!-- thereshold of angle difference for deciding whether point is obstacle or not -->
<!-- T_d: 10 -->
<!-- parameter for margin of azimuth angle to find obstacle -->
angle_threshhold: 0.5
<!-- parameter for number of bin and lenght of one bin -->
<!-- bin_num: 200
bin_range: 0.1 -->
<!-- mimimum cluster size to decide it is cluster or not -->
min_cluster_size: 10
<!-- maximum cluster size to decide it is cluster or not -->
<!-- max_cluster_size: 20000000 -->
max_cluster_size: 10000
<!-- distance to decide if two points is same cluster or not -->
tolerance: 0.4
<!-- parameter of height to decide point is over the bottom plane -->
pruning_height: 0.2
<!-- voxel grid size -->
voxel_size: 0.1
<!-- safety ROI -->
roi_x: 5.0
roi_y: 1.5
roi_z_min: -0.4
roi_z_max: 1.5
<!-- pruning ROI -->
roi_x_ob: 1.5
roi_y_ob: 1.5
roi_z_min_ob: -1.0
roi_z_max_ob: 0.5
<!-- camera information for coordinate transforming -->
camera_pixel_size: 1384
camera_fov: 150
T_d_prev: 0.1
T_d_ground: 0.1
seg_deg: 0.5
bin_num: 100
bin_range: 0.3
T_m: 5.0
T_m_small: -0.3
T_RMSE: 0.1
T_b: 1.0
yolo_d: 1.0
yolo_alive: 0.5
voxel_x: 0.5
voxel_y: 0.5
voxel_z: 0.5
countThreshold: 2
</rosparam>
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find rr_perception)/rviz/ouster_rviz.rviz" />
</launch>
and read parameter like below code.
ROS_ASSERT(nh.getParam("lidar_height", impl_->lidar_height));
ROS_ASSERT(nh.getParam("T_d_prev", impl_->T_d_prev));
ROS_ASSERT(nh.getParam("T_d_ground", impl_->T_d_ground));
ROS_ASSERT(nh.getParam("seg_deg", impl_->seg_deg));
ROS_ASSERT(nh.getParam("bin_num", impl_->bin_num));
ROS_ASSERT(nh.getParam("bin_range", impl_->bin_range));
ROS_ASSERT(nh.getParam("T_m", impl_->T_m));
ROS_ASSERT(nh.getParam("T_m_small", impl_->T_m_small));
ROS_ASSERT(nh.getParam("T_RMSE", impl_->T_RMSE));
ROS_ASSERT(nh.getParam("T_b", impl_->T_b));
ROS_ASSERT(nh.getParam("T_d_prev", impl_->T_d_prev));
ROS_ASSERT(nh.getParam("angle_threshhold", impl_->angle_th));
ROS_ASSERT(nh.getParam("camera_pixel_size", impl_->camera_pixel_size));
ROS_ASSERT(nh.getParam("camera_fov", impl_->camera_fov));
ROS_ASSERT(nh.getParam("yolo_d", impl_->yolo_d));
If I print parameters, all of the values are 0.
[ WARN] [1688542286.528418611]: lidar_height 0.000000
[ WARN] [1688542286.528596290]: T_d_prev 0.000000
[ WARN] [1688542286.528600813]: T_d_ground 0.000000
[ WARN] [1688542286.528604522]: seg_deg 0.000000
[ WARN] [1688542286.528607722]: bin_num 0
[ WARN] [1688542286.528610995]: bin_range 0.000000
[ WARN] [1688542286.528615522]: T_m 0.000000
[ WARN] [1688542286.528618582]: T_m_small 0.000000
[ WARN] [1688542286.528621572]: T_RMSE 0.000000
[ WARN] [1688542286.528625362]: T_b 0.000000
[ WARN] [1688542286.528628338]: T_d_prev 0.000000
[ WARN] [1688542286.528631501]: angle_threshhold 0.000000
[ WARN] [1688542286.528635141]: camera_pixel_size 0
[ WARN] [1688542286.528641101]: camera_fov 0.000000
[ WARN] [1688542286.528644269]: yolo_d 0.000000
[ WARN] [1688542286.528661874]: ROI X 0.000000
Strange thing is that if I build with CMAKE_BUILD_TYPE=Release option, it prints properly.
Does Release option make package to not read rosparam?
Please help me.
I tried to build in release option to make my package run faster. But it does not run at all.
