rosparam的使用

rosparam简单使用
在ROS中，经常看到nh.param paramtype ("\yaml name", param object, default value)的表达形式，表示将参数通过yaml形式传入。

#include <ros/ros.h>
#include <string>
void timer_callback(const ros::TimerEvent& Event)
{
    ROS_WARN("This is the one second time event");
}

int main(int argc, char** argv)
{
    ros::Timer publish_timer;

    ros::init(argc,argv,"ros_test");
    ros::NodeHandle nh("~");
    publish_timer = nh.createTimer(ros::Duration(1.0),timer_callback);
    std::string  s;
    nh.param<std::string>("/melodic",s,"hello");
    ros::Rate rate(10);
    while(ros::ok())
    {
        ROS_INFO("The string is %s",s.c_str());
        rate.sleep();
        ros::spinOnce();
    }
    return 1;
}

参数的加载也可以采用launch文件的形式

<launch>
    <node name="test_123" pkg="test" type="test_node" output="screen" />
    <param name="melodic" value="this is the test"/>
</launch>