在ROS中使用参数时学习到roslaunch的使用方法

转自：http://www.ncnynl.com/archives/201611/1061.html

       使用roslaunch文件来启动功能包的一个或多个节点肯定是非常方便的，也很好理解。可是，我在编写roslaunch文件后，运行时出现一个问题：说找不到某某功能包的某某节点，我怎么看都不像，参照网上博客，cmake，romake都试过了，就是不行。无奈翻看原来教程，发现落了一项工作没做。

       总结起来就是：下述情况下，进行roslaunch启动节点时，不用cmake，roamake等对功能包进行编译，只需对节点的文件（xx.cpp或xx.py）设置可执行权限就行！！！！！！（我就是没有）

        在当前情况是这样，launch文件内容简单，后续复杂的roslaunch方法，也许需要编译功能包，现在正在学习中......有错还望指正，谢谢！

       具体步骤如下：

（1）编写节点文件

$ roscd beginner_tutorials/scripts
$ touch param_talker.py

    代码如下：

#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def param_talker():
    rospy.init_node('param_talker')

    # Fetch values from the Parameter Server. In this example, we fetch
    # parameters from three different namespaces:
    #
    # 1) global (/global_example)
    # 2) parent (/foo/utterance)
    # 3) private (/foo/param_talker/topic_name)

    # fetch a /global parameter
    global_example = rospy.get_param("/global_example")
    rospy.loginfo("%s is %s", rospy.resolve_name('/global_example'), global_example)
    
    # fetch the utterance parameter from our parent namespace
    utterance = rospy.get_param('utterance')
    rospy.loginfo("%s is %s", rospy.resolve_name('utterance'), utterance)
    
    # fetch topic_name from the ~private namespace
    topic_name = rospy.get_param('~topic_name')
    rospy.loginfo("%s is %s", rospy.resolve_name('~topic_name'), topic_name)

    # fetch a parameter, using 'default_value' if it doesn't exist
    default_param = rospy.get_param('default_param', 'default_value')
    rospy.loginfo('%s is %s', rospy.resolve_name('default_param'), default_param)
    
    # fetch a group (dictionary) of parameters
    gains = rospy.get_param('gains')
    p, i, d = gains['P'], gains['I'], gains['D']
    rospy.loginfo("gains are %s, %s, %s", p, i, d)    

    # set some parameters
    rospy.loginfo('setting parameters...')
    rospy.set_param('list_of_floats', [1., 2., 3., 4.])
    rospy.set_param('bool_True', True)
    rospy.set_param('~private_bar', 1+2)
    rospy.set_param('to_delete', 'baz')
    rospy.loginfo('...parameters have been set')

    # delete a parameter
    if rospy.has_param('to_delete'):
        rospy.delete_param('to_delete')
        rospy.loginfo("deleted %s parameter"%rospy.resolve_name('to_delete'))
    else:
        rospy.loginfo('parameter %s was already deleted'%rospy.resolve_name('to_delete'))

    # search for a parameter
    param_name = rospy.search_param('global_example')
    rospy.loginfo('found global_example parameter under key: %s'%param_name)
    
    # publish the value of utterance repeatedly
    pub = rospy.Publisher(topic_name, String, queue_size=10)
    while not rospy.is_shutdown():
        pub.publish(utterance)
        rospy.loginfo(utterance)
        rospy.sleep(1)
        
if __name__ == '__main__':
    try:
        param_talker()
    except rospy.ROSInterruptException: pass

（2）编写完成后，保存，并设置可执行权限（一定要注意！！！！）
 

$ chmod +x param_talker.py

（3）编写启动文件，param_talker.launch文件中写如下代码

$ roscd beginner_tutorials/bringup
$ touch param_talker.launch
$ rosed beginner_tutorials param_talker.launch

    代码如下：

<launch>

  <!-- set /global_example parameter -->
  <param name="global_example" value="global value" />
    
  <group ns="foo">

    <!-- set /foo/utterance -->
    <param name="utterance" value="Hello World" />

    <param name="to_delete" value="Delete Me" />

    <!-- a group of parameters that we will fetch together -->
    <group ns="gains">
      <param name="P" value="1.0" />
      <param name="I" value="2.0" />
      <param name="D" value="3.0" />      
    </group>
  
    <node pkg="rospy_tutorials" name="param_talker" type="param_talker.py" output="screen">
    
      <!-- set /foo/utterance/param_talker/topic_name -->
      <param name="topic_name" value="chatter" />
      
    </node>
    
  </group>
  
</launch>

（4） 启动launch文件

$ roslaunch beginner_tutorials param_talker.launch

注意：上述整个过程无须catkin_make或者rosmake！！！！