rosparam如何加载获取

<launch>
  <arg name="role_name" default="hero" />
  <arg name="detect_range" default="30.0" />

  <node pkg="gap_selector" type="gap_selector" name="gap_selector" output="screen">
    <param name="role_name" value="$(arg role_name)" />
    <param name="detect_range" type="double" value="$(arg detect_range)" />
  </node>

</launch>

c++中的launch文件中的param要加上类型

那么在执行文件中如何调用呢？

int main(int argc, char **argv)
{
  ros::init(argc, argv, "gap_selector");
  ros::NodeHandle n("~");

  double detect_range;
  if (n.getParam("detect_range", detect_range)) 
  {
    ROS_INFO("Got param: %f", detect_range);
  } 
  else 
  {
    detect_range = 50.0;
    ROS_ERROR("Failed to get param 'detect_range'");
  }
  ...
}

c++中param可以通过rosparam  list 来查看