How to change `png_level` parameter by yaml

[hyunseok-yang]

I tried to set png_level for compressed topic like below.

But failed to set the value even though I can get the value through ros2 param get /camera/camera .aligned_depth_to_color.image_raw.png_level command.

/camera/camera:
  ros__parameters:
    .aligned_depth_to_color.image_raw.png_level: 1
    .color.image_raw.png_level: 1
    .depth.image_rect_raw.png_level: 1

I checked if this is really changed.
comapred before applying yaml file with after applying it.

yg@YG-ROS:ws$ ros2 param get /camera/camera .aligned_depth_to_color.image_raw.png_level
Integer value is: 3
yg@YG-ROS:ws$ ros2 param get /camera/camera .aligned_depth_to_color.image_raw.png_level
Integer value is: 1

[ijnek]

Hi @hyunseok-yang , you'll want to use the parameter name exactly as you see as listed upon running:

ros2 param list /camera/camera

assuming /camera/camera is your node. I tried setting the parameters using YAML, and it worked fine. I don't think the leading "." for your parameters should be there.

[hyunseok-yang]

Hi @hyunseok-yang , you'll want to use the parameter name exactly as you see as listed upon running:

ros2 param list /camera/camera

assuming /camera/camera is your node. I tried setting the parameters using YAML, and it worked fine. I don't think the leading "." for your parameters should be there.

Was it really changed in here also?

It's humble version of node.

It looks the value for that paramter is still '3'.

[ijnek]

Can you set it using ros2 param set like below? I am able to set it on Humble. Change the node name and parameter name appropriately:

vscode@ijnek-ThinkPad:/png_level_ws$ ros2 param get /v4l2_camera image_raw.png_level 
Integer value is: 3
vscode@ijnek-ThinkPad:/png_level_ws$ ros2 param set /v4l2_camera image_raw.png_level 4
Set parameter successful
vscode@ijnek-ThinkPad:/png_level_ws$ ros2 param get /v4l2_camera image_raw.png_level 
Integer value is: 4

[hyunseok-yang]

image_raw.png_level

I guess something is different.

yg@YG-ROS:ws$ ros2 param get /ns1/cam1 image_raw.png_level 
Parameter not set

Here are all I got for parameters

  .aligned_depth_to_color.image_raw.format
  .aligned_depth_to_color.image_raw.jpeg_quality
  .aligned_depth_to_color.image_raw.png_level
  .aligned_depth_to_color.image_raw.tiff.res_unit
  .aligned_depth_to_color.image_raw.tiff.xdpi
  .aligned_depth_to_color.image_raw.tiff.ydpi
  .color.image_raw.format
  .color.image_raw.jpeg_quality
  .color.image_raw.png_level
  .color.image_raw.tiff.res_unit
  .color.image_raw.tiff.xdpi
  .color.image_raw.tiff.ydpi
  .depth.image_rect_raw.format
  .depth.image_rect_raw.jpeg_quality
  .depth.image_rect_raw.png_level
  .depth.image_rect_raw.tiff.res_unit
  .depth.image_rect_raw.tiff.xdpi
  .depth.image_rect_raw.tiff.ydpi
  accel_fps
  accel_info_qos
  accel_qos
  align_depth.enable
  align_depth.frames_queue_size
  angular_velocity_cov
  base_frame_id
  camera_name
  clip_distance
  color_info_qos
  color_qos
  colorizer.color_scheme
  colorizer.enable
  colorizer.frames_queue_size
  colorizer.histogram_equalization_enabled
  colorizer.max_distance
  colorizer.min_distance
  colorizer.stream_filter
  colorizer.stream_format_filter
  colorizer.stream_index_filter
  colorizer.visual_preset
  decimation_filter.enable
  decimation_filter.filter_magnitude
  decimation_filter.frames_queue_size
  decimation_filter.stream_filter
  decimation_filter.stream_format_filter
  decimation_filter.stream_index_filter
  depth_info_qos
  depth_module.auto_exposure_roi.bottom
  depth_module.auto_exposure_roi.left
  depth_module.auto_exposure_roi.right
  depth_module.auto_exposure_roi.top
  depth_module.depth_format
  depth_module.emitter_always_on
  depth_module.emitter_enabled
  depth_module.emitter_on_off
  depth_module.enable_auto_exposure
  depth_module.error_polling_enabled
  depth_module.exposure
  depth_module.frames_queue_size
  depth_module.gain
  depth_module.global_time_enabled
  depth_module.hdr_enabled
  depth_module.infra1_format
  depth_module.infra2_format
  depth_module.inter_cam_sync_mode
  depth_module.laser_power
  depth_module.output_trigger_enabled
  depth_module.profile
  depth_module.sequence_id
  depth_module.sequence_name
  depth_module.sequence_size
  depth_module.visual_preset
  depth_qos
  device_type
  diagnostics_period
  disparity_filter.enable
  disparity_to_depth.enable
  enable_accel
  enable_color
  enable_depth
  enable_gyro
  enable_infra1
  enable_infra2
  enable_rgbd
  enable_sync
  filter_by_sequence_id.enable
  filter_by_sequence_id.frames_queue_size
  filter_by_sequence_id.sequence_id
  gyro_fps
  gyro_info_qos
  gyro_qos
  hdr_merge.enable
  hdr_merge.frames_queue_size
  hold_back_imu_for_frames
  hole_filling_filter.enable
  hole_filling_filter.frames_queue_size
  hole_filling_filter.holes_fill
  hole_filling_filter.stream_filter
  hole_filling_filter.stream_format_filter
  hole_filling_filter.stream_index_filter
  infra1_info_qos
  infra1_qos
  infra2_info_qos
  infra2_qos
  initial_reset
  json_file_path
  linear_accel_cov
  motion_module.enable_motion_correction
  motion_module.frames_queue_size
  motion_module.global_time_enabled
  pointcloud.allow_no_texture_points
  pointcloud.enable
  pointcloud.filter_magnitude
  pointcloud.frames_queue_size
  pointcloud.ordered_pc
  pointcloud.pointcloud_qos
  pointcloud.stream_filter
  pointcloud.stream_format_filter
  pointcloud.stream_index_filter
  publish_odom_tf
  publish_tf
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  reconnect_timeout
  rgb_camera.auto_exposure_priority
  rgb_camera.auto_exposure_roi.bottom
  rgb_camera.auto_exposure_roi.left
  rgb_camera.auto_exposure_roi.right
  rgb_camera.auto_exposure_roi.top
  rgb_camera.backlight_compensation
  rgb_camera.brightness
  rgb_camera.color_format
  rgb_camera.contrast
  rgb_camera.enable_auto_exposure
  rgb_camera.enable_auto_white_balance
  rgb_camera.exposure
  rgb_camera.frames_queue_size
  rgb_camera.gain
  rgb_camera.gamma
  rgb_camera.global_time_enabled
  rgb_camera.hue
  rgb_camera.power_line_frequency
  rgb_camera.profile
  rgb_camera.saturation
  rgb_camera.sharpness
  rgb_camera.white_balance
  rosbag_filename
  serial_no
  spatial_filter.enable
  spatial_filter.filter_magnitude
  spatial_filter.filter_smooth_alpha
  spatial_filter.filter_smooth_delta
  spatial_filter.frames_queue_size
  spatial_filter.holes_fill
  spatial_filter.stream_filter
  spatial_filter.stream_format_filter
  spatial_filter.stream_index_filter
  temporal_filter.enable
  temporal_filter.filter_smooth_alpha
  temporal_filter.filter_smooth_delta
  temporal_filter.frames_queue_size
  temporal_filter.holes_fill
  temporal_filter.stream_filter
  temporal_filter.stream_format_filter
  temporal_filter.stream_index_filter
  tf_publish_rate
  unite_imu_method
  usb_port_id
  use_sim_time
  wait_for_device_timeout

[bmegli]

@hyunseok-yang

It would really help if you shared what ROS distro you are using (foxy, galactic, humble, iron?)

And yes, if you look at #140

• ROS2 image_transport parameters undergone serious evolution
  • started scoped in node (e.g. camera.png_level)
  • moved to topic scope
    • e.g. camera.image_raw.png_level
    • or like camera.color.image_raw.png_level
  • moved to transport scope
    • e.g. camera.image_raw.compressed.png_level
    • or like camera.color.image_raw.compressed.png_level
• and this will likely depend on which distro you are using
  • all previous parameter scopes were wrong in the sense that parameters of different things would clash

---

From your output:

I guess something is different.

yg@YG-ROS:ws$ ros2 param get /ns1/cam1 image_raw.png_level
Parameter not set

Here are all I got for parameters

Clearly there is no parameter you are asking for in the list

# try with some that exists on the list
ros2 param get /ns1/cam1 color.image_raw.png_level

---

Judging from your output you have topic scoped parameters.

Which suggests ROS2 foxy or humble

[hyunseok-yang]

@hyunseok-yang

It would really help if you shared what ROS distro you are using (foxy, galactic, humble, iron?)

And yes, if you look at #140

• ROS2 image_transport parameters undergone serious evolution

  • started scoped in node (e.g. camera.png_level)

  • moved to topic scope

    • e.g. camera.image_raw.png_level
    • or like camera.color.image_raw.png_level

  • moved to transport scope

    • e.g. camera.image_raw.compressed.png_level
    • or like camera.color.image_raw.compressed.png_level

• and this will likely depend on which distro you are using

  • all previous parameter scopes were wrong in the sense that parameters of different things would clash

From your output:

I guess something is different.

yg@YG-ROS:ws$ ros2 param get /ns1/cam1 image_raw.png_level
Parameter not set

Here are all I got for parameters

Clearly there is no parameter you are asking for in the list

# try with some that exists on the list
ros2 param get /ns1/cam1 color.image_raw.png_level

Judging from your output you have topic scoped parameters.

Which suggests ROS2 foxy or humble

I'm using humble :)