古月居 ROS入门21讲 第十六讲 参数的使用与编程方法

古月居 ROS入门21讲 第十六讲 参数的使用与编程方法

• C++
  parameter_config.cpp

#include<ros/ros.h>
#include<std_srvs/Empty.h>

int main(int argc,char**argv)
{
    int red,blue,green;
    ros::init(argc,argv,"parameter_config");
    ros::NodeHandle node;

    ros::param::get("/turtlesim/background_r",red);
    ros::param::get("/turtlesim/background_g",green);
    ros::param::get("/turtlesim/background_b",blue);

    ROS_INFO("Get background color[%d,%d,%d]",red,green,blue);
    ros::param::set("/turtlesim/background_r",255);
    ros::param::set("/turtlesim/background_g",255);
    ros::param::set("/turtlesim/background_b",255);
    ROS_INFO("Set background color[255,255,255]");

    ros::param::get("/turtlesim/background_r",red);
    ros::param::get("/turtlesim/background_g",green);
    ros::param::get("/turtlesim/background_b",blue);

    ROS_INFO("Re_get background color[%d,%d,%d]",red,green,blue);

    ros::service::waitForService("/clear");
    ros::ServiceClient client=node.serviceClient<std_srvs::Empty>("/clear");
    std_srvs::Empty srv;
    client.call(srv);
    sleep(1);
    return 0;
}

• Python

#!/usr/bin/python
# -*- coding:utf-8 -*-

import sys
import rospy
from std_srvs.srv import Empty

def parameter_config():
    rospy.init_node('parameter_config',anonymous=True)

    red=rospy.get_param('/turtlesim/background_r')
    green=rospy.get_param('/turtlesim/background_g')
    blue=rospy.get_param('/turtlesim/background_b')

    rospy.loginfo("Get Background color[%d,%d,%d]",red,green,blue)

    red=rospy.set_param('/turtlesim/background_r',100)
    green=rospy.set_param('/turtlesim/background_g',100)
    blue=rospy.set_param('/turtlesim/background_b',100)

    rospy.loginfo("Set Background color[100,100,100]")

    red=rospy.get_param('/turtlesim/background_r')
    green=rospy.get_param('/turtlesim/background_g')
    blue=rospy.get_param('/turtlesim/background_b')

    rospy.loginfo("Re-get Background color[%d,%d,%d]",red,green,blue)
    rospy.wait_for_service("/clear")
    try:
        client=rospy.ServiceProxy('/clear',Empty)
        response=client()
        return response
    except rospy.ServiceException,e:
        print "Service call failed:%s"%e

if __name__=="__main__":
    parameter_config()