ROS学习笔记（九）：参数的使用与编程方法

一、创建功能包

1. $ cd ~/catkin_ws/src 要进入src文件夹才能创建功能包

2. $ catkin_create_pkg learning_parameter roscpp rospy std_srvs 创建learning_topic功能包

二、参数命令行使用

• $ rosparam list 列出当前有多少个参数
• $ rosparam get param_key 显示某个参数值
• $ rosparam set param_key param_value 设置某个参数值
• $ rosparam dump file_name 保存参数到文件
• $ rosparam load file_name 从文件读取并设置参数
• $ rosparam delete param_key 删除参数

使用实例：

1. $ roscore

2. $ rosrun turtlesim turtlesim_node

新建窗口（代码演示过程）

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam
rosparam is a command-line tool for getting, setting, and deleting parameters from the ROS Parameter Server.

Commands:
	rosparam set	set parameter
	rosparam get	get parameter
	rosparam load	load parameters from file
	rosparam dump	dump parameters to file
	rosparam delete	delete parameter
	rosparam list	list parameter names

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam list
/rosdistro
/roslaunch/uris/host_lacyexsale_klv_wx9__36693
/rosversion
/run_id
/turtlesim/background_b
/turtlesim/background_g
/turtlesim/background_r

##小海龟仿真器的背景色
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /turtlesim/background_b
255
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /turtlesim/background_g
86
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /turtlesim/background_r
69

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /rosdistro 
'noetic

  '

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /rosversion 
'1.15.11

  '

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam set /turtlesim/background_b 100  ##修改rgb中b的值
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /turtlesim/background_b
100  ##修改成功
lacyexsale@lacyexsale-KLV-WX9:~$ rosservice call /clear "{}"   ##请求服务，将海龟仿真器的参数重置以生效，可以看到背景颜色发生了改变

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam set /turtlesim/background_b 255
lacyexsale@lacyexsale-KLV-WX9:~$ rosservice call /clear "{}" 

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam set /turtlesim/background_g 255
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam set /turtlesim/background_r 255
lacyexsale@lacyexsale-KLV-WX9:~$ rosservice call /clear "{}" 

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam dump param.yaml  ##保存当前参数设置到文件param.yaml到当前路径下
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam load param.yaml   ##载入参数文件
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam get /turtlesim/background_b
0  ##打开param.yaml，手动修改background_b值为0后保存，再获取值时可以看到值已修改
lacyexsale@lacyexsale-KLV-WX9:~$ rosservice call /clear "{}" 

lacyexsale@lacyexsale-KLV-WX9:~$ rosparam delete /turtlesim/background_g  ##删除参数background_g
lacyexsale@lacyexsale-KLV-WX9:~$ rosparam list
/rosdistro
/roslaunch/uris/host_lacyexsale_klv_wx9__36693
/rosversion
/run_id
/turtlesim/background_b  ##可以看到参数background_g已经不见了
/turtlesim/background_r
lacyexsale@lacyexsale-KLV-WX9:~$ rosservice call /clear "{}" 

三、编程方法配置参数

如何获取/设置参数

• 初始化ROS节点
• get函数获取参数
• set函数设置参数

1. $ cd ~/catkin_ws/src/learning_parameter/src

2. $ touch parameter_config.cpp

3. $ gedit parameter_config.cpp
   输入

/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/

/**
 * 该例程设置/读取海龟例程中的参数
 */
#include <string>
#include <ros/ros.h>
#include <std_srvs/Empty.h>

int main(int argc, char **argv)
{
	int red, green, blue;

    // ROS节点初始化
    ros::init(argc, argv, "parameter_config");

    // 创建节点句柄
    ros::NodeHandle node;

    // 读取背景颜色参数
	ros::param::get("/turtlesim/background_r", red);
	ros::param::get("/turtlesim/background_g", green);
	ros::param::get("/turtlesim/background_b", blue);

	ROS_INFO("Get Backgroud Color[%d, %d, %d]", red, green, blue);

	// 设置背景颜色参数
	ros::param::set("/turtlesim/background_r", 255);
	ros::param::set("/turtlesim/background_g", 255);
	ros::param::set("/turtlesim/background_b", 255);

	ROS_INFO("Set Backgroud Color[255, 255, 255]");

    // 读取背景颜色参数
	ros::param::get("/turtlesim/background_r", red);
	ros::param::get("/turtlesim/background_g", green);
	ros::param::get("/turtlesim/background_b", blue);

	ROS_INFO("Re-get Backgroud Color[%d, %d, %d]", red, green, blue);

	// 调用服务，刷新背景颜色
	ros::service::waitForService("/clear");
	ros::ServiceClient clear_background = node.serviceClient<std_srvs::Empty>("/clear");
	std_srvs::Empty srv;
	clear_background.call(srv);
	
	sleep(1);

    return 0;
}

四、配置代码编译规则

1. $ cd ~/catkin_ws/src/learning_parameter

2. $ gedit CMakeLists.txt
   在

#############
## Install ##
#############

前面添加代码

add_executable(parameter_config src/parameter_config.cpp) ##parameter_config.cpp编译成parameter_config可执行文件
target_link_libraries(parameter_config ${catkin_LIBRARIES}) ##将可执行文件parameter_config通过catkin_LIBRARIES与ros的一些库做连接

五、编译并运行发布者

1. $ cd ~/catkin_ws

2. $ catkin_make

3. $ source devel/setup.bash 设置环境变量

4. $ roscore 启动ROS Master

5. $ rosrun turtlesim turtlesim_node 启动服务端

6. $ rosrun learning_parameter parameter_config 启动服务端
   终端显示

[ INFO] [1621430771.410506654]: Get Backgroud Color[0, 0, 0]
[ INFO] [1621430771.412815904]: Set Backgroud Color[255, 255, 255]
[ INFO] [1621430771.413949097]: Re-get Backgroud Color[255, 255, 255]

可以看到仿真器背景颜色已改变