0. 简介
作者最近发现ROS2目前的功能越来越完善了，其中也新增了很多比较好用的高级玩法，这里作者来一个个向大家展示。这里是小鱼做的ROS2官方文档的中文翻译平台，可以学习和推荐一下
1. 动态参数
1.1 代码编写
对于动态参数，大家学过ROS1的话应该都应该有所耳闻吧，ROS1的动态参数的操作还需要dynamic_reconfigure，ROS2中我们直接使用declare_parameter声明参数，可以在rqt-reconfigure中动态配置，之前我们在声明时新增了一个只读的约束。我们这里参考gitee中的代码。
首先和ROS1一样设置cfg文件：
#!/usr/bin/env pythonPACKAGE = 'pibot_bringup'from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_tgen = ParameterGenerator()model_type_enum = gen.enum([ gen.const("2WD_Diff", int_t, 1, "Two-wheel Diff Drive"), gen.const("4WD_Diff", int_t, 2, "Four-wheel Diff Drive"), gen.const("3WD_Omni", int_t, 101, "Three-wheel Omni Drvie"), # gen.const("4WD_Omni", int_t, 102, "Four-wheel Omni Drvie"), gen.const("4WD_Mecanum", int_t, 201, "Four-wheel Mecanum Drvie"), gen.const("UNKNOWN", int_t, 255, "unknown model")], "pibot dirver list")gen.add("model_type", int_t, 0, "model type", 1, 1, 255, edit_method = model_type_enum)gen.add("motor1_exchange_flag", bool_t, 0, "exchange motor1 wire", False)gen.add("motor2_exchange_flag", bool_t, 0, "exchange motor2 wire", False)gen.add("motor3_exchange_flag", bool_t, 0, "exchange motor3 wire", False)gen.add("motor4_exchange_flag", bool_t, 0, "exchange motor4 wire", False)gen.add("encoder1_exchange_flag", bool_t, 0, "exchange encoder1 wire", False)gen.add("encoder2_exchange_flag", bool_t, 0, "exchange encoder2 wire", False)gen.add("encoder3_exchange_flag", bool_t, 0, "exchange encoder3 wire", False)gen.add("encoder4_exchange_flag", bool_t, 0, "exchange encoder4 wire", False)gen.add("wheel_diameter", int_t, 0, "The diameter of the wheel", 30, 10, 500)gen.add("wheel_track", int_t, 0, "The track of the wheel", 300, 50, 1000)gen.add("encoder_resolution", int_t, 0, "The resolution of the encoder", 1560, 1 , 32000)gen.add("motor_ratio", int_t, 0, "The ratio of the motor", 1, 1, 1000)gen.add("do_pid_interval", int_t, 0, "The interval of do pid", 10, 1, 80)gen.add("kp", int_t, 0, "Kp value", 20, 0, 10000)gen.add("ki", int_t, 0, "Ki value", 20, 0, 32000)gen.add("kd", int_t, 0, "Kd value", 20, 0, 1000)gen.add("ko", int_t, 0, "Ko value", 20, 0, 1000)gen.add("cmd_last_time", int_t, 0, "cmd_last_time value", 200, 0, 1000)gen.add("max_v_liner_x", int_t, 0, "liner x", 60, 0, 500)gen.add("max_v_liner_y", int_t, 0, "liner y", 0, 0, 500)gen.add("max_v_angular_z", int_t, 0, "angular z", 120, 0, 2000)imu_type_enum = gen.enum([ gen.const("GY65", int_t, 49, "mpu6050"), gen.const("GY85", int_t, 69, "adxl345_itg3200_hmc5883l"), gen.const("GY87", int_t, 71, "mpu6050_hmc5883l"), gen.const("nonimu", int_t, 255, "disable imu")], "imu type list")gen.add("imu_type", int_t, 0, "imu type", 69, 1, 255, edit_method = imu_type_enum)exit(gen.generate(PACKAGE, "pibot_bringup", "pibot_driver"))同时还可以新增其他约束以限制参数设置的范围
rcl_interfaces::msg::ParameterDescriptor descriptor; descriptor.description = ""; descriptor.name = "name"; descriptor.integer_range.resize(1); descriptor.integer_range[0].from_value = 10; descriptor.integer_range[0].to_value = 1000; descriptor.integer_range[0].step = 1; node->declare_parameter<uint16_t>("wheel_diameter", rp->wheel_diameter, descriptor);同时我们设置一个参数修改的回调通知，来根据设置的参数下发至下位机
#include <vector>#include <rclcpp/rclcpp.hpp>struct Robot_parameter { union { char buff[64]; struct { unsigned short wheel_diameter; //轮子直径 mm unsigned short wheel_track; //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm unsigned short encoder_resolution; //编码器分辨率 unsigned char do_pid_interval; // pid间隔 (ms) unsigned short kp; unsigned short ki; unsigned short kd; unsigned short ko; // pid参数比例 unsigned short cmd_last_time; //命令持久时间ms 超过该时间会自动停止运动 unsigned short max_v_liner_x; // 最大x线速度 unsigned short max_v_liner_y; // 最大y线速度 unsigned short max_v_angular_z; // 最大角速度 unsigned char imu_type; // imu类型 参见IMU_TYPE unsigned short motor_ratio; // 电机减速比 unsigned char model_type; // 运动模型类型 参见MODEL_TYPE unsigned char motor_nonexchange_flag; // 电机标志参数 1 正接 0 反接(相当于电机线交换) unsigned char encoder_nonexchange_flag; // 编码器标志参数 1 正接 0 反接(相当于编码器ab相交换) }; };};class MyNode : public rclcpp::Node{public: MyNode() { Robot_parameter* rp; // Declare parameters first descriptor.description = ""; descriptor.name = "name"; descriptor.integer_range.resize(1); descriptor.integer_range[0].from_value = 10; descriptor.integer_range[0].to_value = 1000; descriptor.integer_range[0].step = 1; node->declare_parameter<uint16_t>("wheel_diameter", rp->wheel_diameter, descriptor); // Then create callback callback_handle_= this->add_on_set_parameters_callback( std::bind(&MyNode::SetParametersCallback, this, std::placeholders::_1,rp)); }private: // This will get called whenever a parameter gets updated rcl_interfaces::msg::SetParametersResult SetParametersCallback( const std::vector<rclcpp::Parameter> & parameters, Robot_parameter* rp) { rcl_interfaces::msg::SetParametersResult result; result.successful = true; result.reason = "success"; for (auto& param : parameters) { RCLCPP_INFO(this->get_logger(), "param %s update", param.get_name().c_str()); if (param.get_name() == "motor1_exchange_flag") { RCLCPP_INFO(this->get_logger(), "++param %d", rp->motor_nonexchange_flag); std::bitset<8> val(rp->motor_nonexchange_flag); val[0] = !param.as_bool(); rp->motor_nonexchange_flag = val.to_ulong(); RCLCPP_INFO(this->get_logger(), "--param %d", rp->motor_nonexchange_flag); } else if (param.get_name() == "motor2_exchange_flag") { std::bitset<8> val(rp->motor_nonexchange_flag); val[1] = !param.as_bool(); rp->motor_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "motor3_exchange_flag") { std::bitset<8> val(rp->motor_nonexchange_flag); val[2] = !param.as_bool(); rp->motor_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "motor4_exchange_flag") { std::bitset<8> val(rp->motor_nonexchange_flag); val[3] = !param.as_bool(); rp->motor_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "encoder1_exchange_flag") { std::bitset<8> val(rp->encoder_nonexchange_flag); val[0] = !param.as_bool(); rp->encoder_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "encoder2_exchange_flag") { std::bitset<8> val(rp->encoder_nonexchange_flag); val[1] = !param.as_bool(); rp->encoder_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "encoder3_exchange_flag") { std::bitset<8> val(rp->encoder_nonexchange_flag); val[2] = !param.as_bool(); rp->encoder_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "encoder4_exchange_flag") { std::bitset<8> val(rp->encoder_nonexchange_flag); val[3] = !param.as_bool(); rp->encoder_nonexchange_flag = val.to_ulong(); } else if (param.get_name() == "model_type") { rp->model_type = param.as_int(); } else if (param.get_name() == "wheel_diameter") { rp->wheel_diameter = param.as_int(); } else if (param.get_name() == "wheel_track") { rp->wheel_track = param.as_int(); } else if (param.get_name() == "encoder_resolution") { rp->encoder_resolution = param.as_int(); } else if (param.get_name() == "do_pid_interval") { rp->do_pid_interval = param.as_int(); } else if (param.get_name() == "kp") { rp->kp = param.as_int(); } else if (param.get_name() == "ki") { rp->ki = param.as_int(); } else if (param.get_name() == "kd") { rp->kd = param.as_int(); } else if (param.get_name() == "ko") { rp->ko = param.as_int(); } else if (param.get_name() == "cmd_last_time") { rp->cmd_last_time = param.as_int(); } else if (param.get_name() == "max_v_liner_x") { rp->max_v_liner_x = param.as_int(); } else if (param.get_name() == "max_v_liner_y") { rp->max_v_liner_y = param.as_int(); } else if (param.get_name() == "max_v_angular_z") { rp->max_v_angular_z = param.as_int(); } else if (param.get_name() == "imu_type") { rp->imu_type = param.as_int(); } else if (param.get_name() == "motor_ratio") { rp->motor_ratio = param.as_int(); } } DataHolder::dump_params(rp); param_update_flag_ = true; return result; } // Need to hold a pointer to the callback rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr callback_handle_; rcl_interfaces::msg::ParameterDescriptor descriptor;};该回调被调用会设置一个update_flag的变量，主线程会处理执行一次参数同步操作
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