ROS2高效学习第六章 -- ros2 parameter编程

1 前言和资料

在ROS2高效学习第二章 – ros2常用命令和相关概念学习，熟练玩起来小乌龟样例这篇博客里，我们讲解了 ros2 parameter 的基本概念，介绍了命令行获取和设置节点参数的方法，本文我们讲解 ros2 parameter 编程，并使用 cpp 和 python 两种语言，实现 parameter 编程样例。
本文参考资料如下：
（1）ROS2高效学习第二章 – ros2常用命令和相关概念学习，熟练玩起来小乌龟样例 第2.6节
（2）Using-Parameters-In-A-Class-CPP
（3）Using-Parameters-In-A-Class-Python
（4）Monitoring-For-Parameter-Changes-CPP

2 正文

2.1 parameters_cpp

（1）功能介绍：在 parameters_cpp 中，我们将实现两个节点。
第一个 param_test 节点，我们将测试 ros2 parameter 编程的两种参数设置方式，分别是 launch 文件设置和 API 接口设置。
第二个 param_monitor 节点，我们将编码实现参数监控，既监控本节点参数，也监控其他节点参数的改动。在实际开发中，监控参数改动有比较多的应用。
（2）创建 parameters_cpp 软件包和文件

cd ~/colcon_ws/src
ros2 pkg create --build-type ament_cmake --license Apache-2.0 parameters_cpp --dependencies rclcpp
cd parameters_cpp 
mkdir launch
touch launch/param_test_launch.py launch/param_monitor_launch.py
touch src/param_test.cpp src/param_monitor.cpp

（3）编写 param_test.cpp

#include <chrono>
#include <functional>
#include <string>
#include "rclcpp/rclcpp.hpp"

class MiniParam : public rclcpp::Node {
public:
    MiniParam() : Node("test_param_cpp") {
        // set param description
        auto param_desc = rcl_interfaces::msg::ParameterDescriptor{};
        param_desc.description = "This parameter is mine!";
        // "set in cpp !!" will be cover by launch file: "set in launch !!"
        this->declare_parameter("demo_param", "set in cpp !!", param_desc);
        timer_ = this->create_wall_timer(std::chrono::seconds(1), std::bind(&MiniParam::timer_cb, this));
    }

    void timer_cb() {
        std::string demo_param = this->get_parameter("demo_param").as_string();
        RCLCPP_INFO(this->get_logger(), "demo_param: %s", demo_param.c_str());

        // Reset all parameters to prevent external modifications
        std::vector<rclcpp::Parameter> all_parameters;
        all_parameters.push_back(rclcpp::Parameter("demo_param", "set in cpp !!"));
        this->set_parameters(all_parameters);
    }

private:
    rclcpp::TimerBase::SharedPtr timer_;
};

int main(int argc, char* argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MiniParam>());
    rclcpp::shutdown();
    return 0;
}

（4）编写 param_test_launch.py

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='parameters_cpp',
            namespace='cpp',
            executable='param_test',
            name='param_test',
            output="screen",
            emulate_tty=True,
            parameters=[
                {"demo_param": "set in launch !!"}
            ]
        )
    ])

（5）编写 param_monitor.cpp

#include <chrono>
#include <functional>
#include <string>

#include "rclcpp/rclcpp.hpp"

class MiniParam : public rclcpp::Node {
public:
    MiniParam() : Node("param_monitor_cpp") {
        // set param description
        auto param_desc = rcl_interfaces::msg::ParameterDescriptor{};
        param_desc.description = "This parameter is mine!";
        this->declare_parameter("demo_param", "set in cpp !!", param_desc);

        // used to monitor parameter changes
        param_sub_ = std::make_shared<rclcpp::ParameterEventHandler>(this);
        // 监测本节点的demo_param参数变化
        demo_param_change_cb_ = param_sub_->add_parameter_callback("demo_param", 
        [this](const rclcpp::Parameter &p) {
            RCLCPP_INFO(this->get_logger(), "received an update to : %s , type is %s, value is %s", 
                        p.get_name().c_str(),
                        p.get_type_name().c_str(),
                        p.as_string().c_str());
        });
        // 监测/turtlesim_node节点的background_b参数变化
        turtlesim_node_background_b_change_cb_ = param_sub_->add_parameter_callback("background_b",
        [this](const rclcpp::Parameter &p) {
            RCLCPP_INFO(this->get_logger(), "received an update to : %s , type is %s, value is %ld", 
                        p.get_name().c_str(),
                        p.get_type_name().c_str(),
                        p.as_int());
        }, "/turtlesim_node");
    }

private:
    std::shared_ptr<rclcpp::ParameterEventHandler> param_sub_;
    std::shared_ptr<rclcpp::ParameterCallbackHandle> demo_param_change_cb_;
    std::shared_ptr<rclcpp::ParameterCallbackHandle> turtlesim_node_background_b_change_cb_;
};

int main(int argc, char* argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MiniParam>());
    rclcpp::shutdown();
    return 0;
}

（6）编写 param_monitor_launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import TimerAction

def generate_launch_description():
    return LaunchDescription([
    	# 监控这个节点的参数变化
        Node(	
            package='turtlesim',
            executable='turtlesim_node',
            name='turtlesim_node',
            output="screen",
            emulate_tty=True
        ),
        TimerAction(
            period=3.0,
            actions=[
                Node(
                    package='parameters_cpp',
                    namespace='cpp',
                    executable='param_monitor',
                    name='param_monitor',
                    output="screen",
                    emulate_tty=True
                )
            ]
        )
    ])

（7）编写CmakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(parameters_cpp)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

add_executable(param_test src/param_test.cpp)
ament_target_dependencies(param_test rclcpp)

add_executable(param_monitor src/param_monitor.cpp)
ament_target_dependencies(param_monitor rclcpp)

install(TARGETS
  param_test
  param_monitor
  DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)
ament_package()

（8）测试 param_test

~/colcon_ws
colcon build --packages-select parameters_cpp
source install/local_setup.bash
ros2  launch parameters_cpp param_test_launch.py
# 新开一个窗口，使用命令行修改参数
~/colcon_ws
source install/local_setup.bash
ros2 param set /cpp/param_test demo_param hahaharos2

（9）测试 param_monitor

~/colcon_ws
colcon build --packages-select parameters_cpp
source install/local_setup.bash
ros2  launch parameters_cpp param_monitor_launch.py
# 新开一个窗口，使用命令行修改参数
~/colcon_ws
source install/local_setup.bash
ros2 param set /cpp/param_monitor demo_param hahaharos2
ros2 param set /turtlesim_node background_b  134

2.2 parameters_py

（1）功能介绍：parameters_py 的功能与 parameters_cpp 基本相同，唯一的区别是没有实现监控其他节点（ /turtlesim_node ）参数的变化，主要是 python 实现这个功能非常复杂，暂时不搞了。
（2）请读者到本人 github 上获取源码：parameters_py，这里不再详述 parameters_py 的编码和测试过程，直接放运行截图：

3 总结

本文源码托管在本人的github上：parameters_cpp，parameters_py