【背景】
有时节点需要从launch文件中获取参数,本教程展示如何在C++程序中创建这些参数,以及获取这些参数。
【代码】
#include <rclcpp/rclcpp.hpp>
#include <chrono>
#include <string>
#include <functional>
using namespace std::chrono_literals;
class ParametersClass: public rclcpp::Node
{
public:
ParametersClass()
: Node("parameter_node")
{
this->declare_parameter<std::string>("my_parameter", "world");
timer_ = this->create_wall_timer(
1000ms, std::bind(&ParametersClass::respond, this));
}
void respond()
{
this->get_parameter("my_parameter", parameter_string_);
RCLCPP_INFO(this->get_logger(), "Hello %s", parameter_string_.c_str());
}
private:
std::string parameter_string_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ParametersClass>());
rclcpp::shutdown();
return 0;
}
设置参数代码
this->declare_parameter<std::string>("my_parameter", "world");
获取参数代码
this->get_parameter("my_parameter", parameter_string_);
终端查看参数服务器
ros2 param list
终端修改参数
ros2 param set /parameter_node my_parameter earth
launch文件中设置参数
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package="cpp_parameters",
node_executable="parameter_node",
node_name="custom_parameter_node",
output="screen",
parameters=[
{"my_parameter": "earth"}
]
)
])
CMakeLists.txt中加入
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
启动 launch 文件
ros2 launch cpp_parameters cpp_parameters_launch.py