dynamic 动态修改节点的参数，切换全局和局部算法

最新推荐文章于 2023-05-24 15:04:48 发布

zlb_zlb

最新推荐文章于 2023-05-24 15:04:48 发布

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本文链接：https://blog.csdn.net/zlb_zlb/article/details/108064132

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本文介绍了如何在命令行或代码中动态地修改计算节点的参数，实现从全局算法到局部算法的灵活切换，适用于不同场景的需求。

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用法如下

Usage: dynparam set [options] node parameter value
   or: dynparam set [options] node values

Examples:
  dynparam set wge100_camera camera_url foo
  dynparam set wge100_camera "{'camera_url':'foo', 'brightness':58}"

命令行

rosrun dynamic_reconfigure dynparam set /move_base "{'base_local_planner':'base_local_planner/TrajectoryPlannerROS'}"

写入代码中

# navfn/NavfnROS + base_local_planner/TrajectoryPlannerROS
# navfn/NavfnROS + dwa_local_planner/DWAPlannerROS
# global_planner/GlobalPlanner + dwa_local_planner/DWAPlannerROS
# global_planner/GlobalPlanner + base_local_planner/TrajectoryPlannerROS

self._base_global_planner = 'global_planner/GlobalPlanner'
self._base_local_planner = 'dwa_local_planner/DWAPlannerROS'

##########

sh_command = "rosrun dynamic_reconfigure dynparam set /move_base '{'