ROS加载yaml文件设置嵌套字典参数

最新推荐文章于 2024-11-05 16:50:16 发布

原创最新推荐文章于 2024-11-05 16:50:16 发布 · 852 阅读

0 ·

CC 4.0 BY-SA版权

ROS 专栏收录该内容

5 篇文章

订阅专栏

本文深入探讨了ROS（Robot Operating System）中如何使用<rosparam>标签进行参数的加载与管理，包括如何定义和加载YAML文件中的参数，以及直接在XML中声明参数的方法。此外，还介绍了通过Python脚本获取这些参数的具体方式。

参考：https://answers.ros.org/question/197304/creatingparsing-a-dictionary-of-dictionary-params/

官网：http://wiki.ros.org/roslaunch/XML/rosparam

官网解读：

The load command is considered additive: if you declare a dictionary or namespace of parameters, those parameters will be added to any other parameters declared for that namespace. Similarly, load commands can override parameters previously declared.

The <rosparam> tag can either reference a YAML file or contain raw YAML text. If the YAML text defines a dictionary, the param attribute may be omitted.

<launch>
    <node pkg="beginner_tutorials" type="v1.py" name="" output="screen" respawn="true">
        <param name="launchpath" value="/home/haypin/pytest/launchdir"/>
        <rosparam command="load" file="$(find beginner_tutorials)/launch/mydict.yaml" />
        <rosparam param="a_list">[3,1,4,1,5,9,2,6]</rosparam>
    </node>
    <!-- <node pkg="beginner_tutorials" type="SubYamlOrder.py" name="tacticSub" output="screen" respawn="true"/> -->
</launch>

ob_extract: 
  board: 
    adjacent_dis_min: 0.1 
    len: 
      min: 0.2                
      max: 0.3

if DEBUG:
    param_ob_extract = rospy.get_param("~ob_extract")  #~替代/node_name/，不用再加/
    print(type(param_ob_extract))             #已经是个Python字典dict了