ROS参数服务器的使用
涉及到的SHELL命令:
roscore
# 启动ROS MASTER
rosrun turtlesim turtlesim_node
# 启动turtlesim GUI
rosparam list
# 列出当前ROS系统中活动的参数
rosparam get /turtlesim/background_r
rosparam get /turtlesim/background_g
rosparam get /turtlesim/background_b
# 获取当前参数值
rosparam set /turtlesim/background_r 0
# 设置/turtlesim/background_r参数值,数字0为设置值
rosrun turtlesim turtlesim_node
# 重新启动turtlesim GUI(设置完参数后重新启动,才可以看到设置后的背景色)
C++实现修改参数服务器中 turtlesim GUI 的背景色
#include "ros/ros.h"
int main(argc,char *argv[])
{
//直接设置参数
ros::init(argc,argc,"change_color");
ros::param::set("/turtlesim/background_b",0);
ros::param::set("/turtlesim/background_r",0);
ros::param::set("/turtlesim/background_g",0);
/*通过节点句柄设置参数
ros::NodeHandle nh;
nh.setParam("/turtlesim/background_b",0);
nh.setParam("/turtlesim/background_r",0);
nh.setParam("/turtlesim/background_g",0);
*/
return 0;
}
catkin_make
# 编译程序
写完程序后运行步骤
roscore
rosrun package package_node(我们这个程序包名和节点名, package package_node,具体和你的设置有关)
rosrun turtlesim turtlesim_node
此时就可以看到黑色背景的GUI了。