ROS-节点参数param

 

摘自：https://blog.csdn.net/qq_35358125/article/details/107023972

ROS-节点参数param

嵌入式小白woods 2020-06-29 17:03:32 275 收藏 5

分类专栏： ROS 文章标签： c++ 自动驾驶

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简介

ROS中提供了的参数服务器机制，用户可以将参数以yaml文件格式保存在本地，程序运行（运行launch文件）时动态载入，修改参数并不需要重新编译。而且，ROS中更为人性化的一点就是支持程序运行时动态修改参数，实时的观测参数对运行结果的影响，极大地方便了参数调试。

载入参数

Ros通过launch文件载入参数，载入完成后可以通过rosparam list在命令行中查看。
1.通过param标签载入参数:
该方法适用于少量参数的载入，格式为：

<param name="parameter_name" type="double" value="10.0" />

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2.通过rosparam标签导入.yam文件载入参数：

该方法适用于大量载入参数，格式为：

<rosparam command="load" file="$(find examle_pkg)/example.yaml" />

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重新运行launch文件，参数就会更新。私有参数放在节点中。

ROS中有如下3种获取参数的方式，2中设置参数的方式

include "ros/ros.h" 
#include <cstdlib> 

using namespace std; 

int main(int argc,char** argv) 
{ 
    //initial and name node 
    ros::init(argc,argv,"node_param"); 
    if(argc!=2) 
    { 
        cout<<"Error command paramter! Please run command eg:\n"\ 
            <<"rosrun book_param book_param 1\n"\ 
            <<"help information:\n"\ 
            <<" 1 ------ set param mode(ros::param::set())\n"\ 
            <<" 2 ------ set param mode(ros::NodeHandle::setParam())\n"\ 
            <<" 3 ------ get param mode(ros::param::get())\n"\ 
            <<" 4 ------ get param mode(ros::NodeHandle::getParam())\n"\ 
            <<" 5 ------ get param mode(ros::NodeHandle::param())\n"\ 
            <<endl; 
        return 1; 
    } 
    //create node handle 
    ros::NodeHandle nh; 
    //param variable 
    int IntParam; 
    string StrParam; 
    bool isIntParam, isStrParam; 
    //mode flag 
    int flag = atoi(argv[1]); 
     // set or get param with different ways 
    switch(flag) 
    { 
        case 1: 
            ROS_INFO("set param mode(ros::param::set()):"); 
            ros::param::set("IntParam",1); 
            ros::param::set("StrParam","stringdemo"); 
            break; 
        case 2: 
            ROS_INFO("set param mode(ros::NodeHandle::setParam()):"); 
            nh.setParam("IntParam",1); 
            nh.setParam("StrParam","stringdemo"); 
            break; 
        case 3: 
            ROS_INFO("get param mode(ros::param::get()):"); 
            isIntParam = ros::param::get("IntParam",IntParam); 
            isStrParam = ros::param::get("StrParam",StrParam); 

            if(isIntParam){ 
                ROS_INFO("The IntParam is:%d",IntParam); 
            }else{ 
                ROS_INFO("Get IntParam fail!"); 
            } 

            if(isIntParam){ 
                ROS_INFO("The StrParam is:%s",StrParam.c_str()); 
            }else{ 
                ROS_INFO("Get StrParam fail!"); 
            } 
            break; 
        case 4: 
            ROS_INFO("get param mode(ros::NodeHandle::getParam()):"); 
            isIntParam = nh.getParam("IntParam",IntParam); 
            isStrParam = nh.getParam("StrParam",StrParam); 

            if(isIntParam){ 
                ROS_INFO("The IntParam is:%d",IntParam); 
            }else{ 
                ROS_INFO("Get IntParam fail!"); 
            } 

            if(isIntParam){ 
                ROS_INFO("The StrParam is:%s",StrParam.c_str()); 
            }else{ 
                ROS_INFO("Get StrParam fail!"); 
            } 
            break; 
        case 5: 
            ROS_INFO("get param mode(ros::NodeHandle::param()):"); 
            //warning: this way will set default value when get no param! 
            nh.param("IntParam",IntParam,11); 
            // be careful when use ros::NodeHandle::param get string param! 
            nh.param<std::string>("StrParam",StrParam,"stringdemo_default"); 
            ROS_INFO("\nThe IntParam is:%d\nThe StrParam is:%s",IntParam,StrParam.c_str()); 
            break; 
        default: 
            ROS_INFO("flag value is not in range: [1,5]"); 
    } 
    return 0;
    }