ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
ros2 param list
获取全部参数
/teleop_turtle: scale_angular scale_linear use_sim_time /turtlesim: (节点名) background_b (参数名) background_g background_r use_sim_time
RGB 是设置乌龟背景版的颜色
通过名单读取、更改参数
ros2 param get <node_name> <parameter_name>
ros2 param get /turtlesim background_b
ros2 param set /turtlesim background_b <xxx value>
ros2 param dump <node_name>
ros2 param dump /turtlesim
加载参数文件:
ros2 param load <node name > <param file>
ros2 param load /turtlesim ./turtlesim.yaml
启动时加载:
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>