ROS—rosparam从roslaunch中获取参数

方法一. getParam

例：获取rate，使用ros::NodeHandle。
.cpp文件中:

  ros::init(argc, argv, "path_show");
  ros::NodeHandle n("~");
  double rate;
  n.getParam("rosRate", rate);
  ros::Rate r(rate);

launch文件中：

  <node name = "discrete_sim" pkg = "formation_show" type = "discrete_sim" output = "screen">
  <param name = "rosRate" type="double" value = "2.0"/>
  </node>

方法二：ros::param::get

例：获取obs_num，使用launch file中的node name和param name结合。
.cpp文件中:

  ros::init(argc, argv, "random");
  ros::NodeHandle node;
  int obs_num = 0;
  ros::param::get("/traj_opti_node1/obstacle_num", obs_num);

launch文件中：

  <node name="traj_opti_node1" pkg="grad_traj_optimization" type="text_input" output="screen">
  <param name="obstacle_num" value="9" type="int">
  </node>