ROS2 使用参数

使用方法

//定义名字为name的参数默认值为Unknown
this->declare_parameter<std::string>("name", "Unknown");
//获取参数名字为name的值
this->get_parameter("name", parameter_string_);

具体的代码如下

#include <rclcpp/rclcpp.hpp>
#include <chrono>
#include <string>
#include <functional>

using namespace std::chrono_literals;

class ParametersNode : public rclcpp::Node
{
public:
    ParametersNode()
        : Node("parameter_node")
    {
        //定义名字为name的参数默认值为Unknown
        this->declare_parameter<std::string>("name", "Unknown");
        //获取参数名字为name的值
        this->get_parameter("name", parameter_string_);
        RCLCPP_INFO(this->get_logger(), "name: %s", parameter_string_.c_str());
    }

private:
    std::string parameter_string_;
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<ParametersNode>());
    rclcpp::shutdown();
    return 0;
}

launch文件

如果我们需要在launch文件定义参数值，可使用下面的方式

parameters=[
	{"name": "John"}
]

具体的代码如下

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package="cpp_parameters",
            executable="cpp_parameters_node",
            name="custom_parameter_node",
            output="screen",
            emulate_tty=True,
            parameters=[
                {"name": "John"}
            ]
        )
    ])

如果我们不填写参数，程序就会使用默认值Unknown

编译

$ colcon build --packages-select cpp_parameters
Starting >>> cpp_parameters
Finished <<< cpp_parameters [0.20s]                     

Summary: 1 package finished [0.30s]

运行

$ ros2 launch src/cpp_parameters/src/read_parameter_launch.py 
[INFO] [launch]: All log files can be found below /home/wilson/.ros/log/2021-03-29-21-41-23-642655-ubuntu-262173
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cpp_parameters_node-1]: process started with pid [262207]
[cpp_parameters_node-1] [INFO] [1617025283.773439645] [custom_parameter_node]: name: John