视频链接:bilibili 搜 古月居
源代码:关注古月居公众号,回复ROS入门21讲
1 参数的使用与编程方法
参数模型:在ROS Master中有Parameter Server参数服务器,用于保存各个节点间配置参数的全局字典,相当于一个全局变量的存储空间。
1.1 参数的使用
- 创建功能包
catkin_create_pkg learning_parameter roscpp rospy std_srvs
- 参数命令行使用rosparam
当ROS中参数较多时,常用YAML参数文件来存储
# 列出当前参数
rosparam list
# 显示某参数值
rosparam get param_key
# 设置某参数值
rosparam set param_key param_value
# 保存参数到文件
rosparam dump file_name
# 从文件读取参数
rosparam load file_name
#删除参数
rosparam delete param_key
1.2 程序(C++)
- code
/***********************************************************************
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("/background_r", red);
ros::param::get("/background_g", green);
ros::param::get("/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("/background_r", 255);
ros::param::set("/background_g", 255);
ros::param::set("/background_b", 255);
ROS_INFO("Set Backgroud Color[255, 255, 255]");
// 读取背景颜色参数
ros::param::get("/background_r", red);
ros::param::get("/background_g", green);
ros::param::get("/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;
}
- 编译与运行
添加cmkelist文件
add_executable(parameter_config src/parameter_config.cpp)
target_link_libraries(parameter_config ${catkin_LIBRARIES})
编译
catkin_make
roscore
rosrun turtlesim turtlesim_node
rosrun learning_parameter parameter_config
1.3 程序(Python)
- code
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程设置/读取海龟例程中的参数
import sys
import rospy
from std_srvs.srv import Empty
def parameter_config():
# ROS节点初始化
rospy.init_node('parameter_config', anonymous=True)
# 读取背景颜色参数
red = rospy.get_param('/background_r')
green = rospy.get_param('/background_g')
blue = rospy.get_param('/background_b')
rospy.loginfo("Get Backgroud Color[%d, %d, %d]", red, green, blue)
# 设置背景颜色参数
rospy.set_param("/background_r", 255);
rospy.set_param("/background_g", 255);
rospy.set_param("/background_b", 255);
rospy.loginfo("Set Backgroud Color[255, 255, 255]");
# 读取背景颜色参数
red = rospy.get_param('/background_r')
green = rospy.get_param('/background_g')
blue = rospy.get_param('/background_b')
rospy.loginfo("Get Backgroud Color[%d, %d, %d]", red, green, blue)
# 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
rospy.wait_for_service('/clear')
try:
clear_background = rospy.ServiceProxy('/clear', Empty)
# 请求服务调用,输入请求数据
response = clear_background()
return response
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if __name__ == "__main__":
parameter_config()
- Run
roscore
rosrun turtlesim turtlesim_node
rosrun learning_parameter parameter_config.py