ROS学习笔记六：理解ROS服务和参数

ROS学习笔记六：理解ROS服务和参数

主要介绍ROS服务和参数，同时使用命令行工具rosservice和rosparam。

ROS service

service是节点之间互相通信的另一种方式，services允许节点发送一个请求并接收一个回应。

使用rosservice

rosservice -h
Commands:
    rosservice args print service arguments
    rosservice call call the service with the provided args
    rosservice find find services by service type
    rosservice info print information about service
    rosservice list list active services
    rosservice type print service type
    rosservice uri  print service ROSRPC uri

rosservice list

rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_leve

可以看出turtlesim有9个相关的服务，另外两个与rosout有关。

rosservice type

rosservice