翻译:java中怎样使用树结构(How to Use Trees)(三)

博客介绍了使用Java实现动态改变树的功能,用户可对树节点进行增加、移除和编辑操作。通过显式增加tree样式,调用相关方法实现节点操作。还给出了初始化代码及完整的增删改功能演示代码,包括DynamicTree类和DynamicTreeDemo类。

动态改变树

下面的图例展示了一个可以让用户增加,移除节点的树的应用,同时,用户可以对节点文字进行编辑(源代码附后).

你可以对后面的代码进行编译,可以看到一个非常完整的tree的增删改功能演示.

这是tree的初始化代码:

 

通过显式的增加一个tree的样式(model),可以保证tree的样式是DefaultTreeModel的一个实例.这样,我们就可以调用tree模式支持的所有方法.例如,我们可以调用medel的insertNodeInto方法,即使这个方法不是TreeModel接口必须的.

如果要使节点上的文字可编辑,只需调用setEditable(true)方法.当用户编辑完节点,model将产生一个model事件,进而通知事件监听器节点已经修改了.注意:虽然DefaultMutableTreeNode有可以改变节点内容的方法,但是节点内容的改变是通过DefaultTreeModel的方法完成的.另一方面,不会产生tree的model事件,tree的监听器也不会知道数据改变.

为了通报节点的改变,我们需要实现一个TreeModelListener监听器.下面是一个例子:tree model监听器可以发现节点的名字被改变.


 

 

下面的代码演示如何增加一个按钮的事件处理器用来给tree增加一个节点.

 

 

 

上面的代码增加了一个节点,并把它插入tree,如果顺利的话,同时请求上级节点展开,以便新增加的节点可见.为了向model插入一个节点,我们调用了DefaultTreeModel类的insertNodeInto方法.

:

DynamicTree.java

package dynamicTree;

 

/*

 * This code is based on an example provided by Richard Stanford,

 * a tutorial reader.

 */

 

import java.awt.GridLayout;

import java.awt.Toolkit;

import javax.swing.JPanel;

import javax.swing.JScrollPane;

import javax.swing.JTree;

import javax.swing.tree.DefaultMutableTreeNode;

import javax.swing.tree.DefaultTreeModel;

import javax.swing.tree.MutableTreeNode;

import javax.swing.tree.TreePath;

import javax.swing.tree.TreeSelectionModel;

import javax.swing.event.TreeModelEvent;

import javax.swing.event.TreeModelListener;

 

public class DynamicTree extends JPanel {

    protected DefaultMutableTreeNode rootNode;

    protected DefaultTreeModel treeModel;

    protected JTree tree;

    private Toolkit toolkit = Toolkit.getDefaultToolkit();

 

    public DynamicTree() {

        super(new GridLayout(1,0));

       

        rootNode = new DefaultMutableTreeNode("Root Node");

        treeModel = new DefaultTreeModel(rootNode);

        treeModel.addTreeModelListener(new MyTreeModelListener());

 

        tree = new JTree(treeModel);

        tree.setEditable(true);

        tree.getSelectionModel().setSelectionMode

                (TreeSelectionModel.SINGLE_TREE_SELECTION);

        tree.setShowsRootHandles(true);

 

        JScrollPane scrollPane = new JScrollPane(tree);

        add(scrollPane);

    }

 

    /** Remove all nodes except the root node. */

    public void clear() {

        rootNode.removeAllChildren();

        treeModel.reload();

    }

 

    /** Remove the currently selected node. */

    public void removeCurrentNode() {

        TreePath currentSelection = tree.getSelectionPath();

        if (currentSelection != null) {

            DefaultMutableTreeNode currentNode = (DefaultMutableTreeNode)

                         (currentSelection.getLastPathComponent());

            MutableTreeNode parent = (MutableTreeNode)(currentNode.getParent());

            if (parent != null) {

                treeModel.removeNodeFromParent(currentNode);

                return;

            }

        }

 

        // Either there was no selection, or the root was selected.

        toolkit.beep();

    }

 

    /** Add child to the currently selected node. */

    public DefaultMutableTreeNode addObject(Object child) {

        DefaultMutableTreeNode parentNode = null;

        TreePath parentPath = tree.getSelectionPath();

 

        if (parentPath == null) {

            parentNode = rootNode;

        } else {

            parentNode = (DefaultMutableTreeNode)

                         (parentPath.getLastPathComponent());

        }

 

        return addObject(parentNode, child, true);

    }

 

    public DefaultMutableTreeNode addObject(DefaultMutableTreeNode parent,

                                            Object child) {

        return addObject(parent, child, false);

    }

 

    public DefaultMutableTreeNode addObject(DefaultMutableTreeNode parent,

                                            Object child,

                                            boolean shouldBeVisible) {

        DefaultMutableTreeNode childNode =

                new DefaultMutableTreeNode(child);

 

        if (parent == null) {

            parent = rootNode;

        }

 

        treeModel.insertNodeInto(childNode, parent,

                                 parent.getChildCount());

 

        //Make sure the user can see the lovely new node.

        if (shouldBeVisible) {

            tree.scrollPathToVisible(new TreePath(childNode.getPath()));

        }

        return childNode;

    }

 

    class MyTreeModelListener implements TreeModelListener {

        public void treeNodesChanged(TreeModelEvent e) {

            DefaultMutableTreeNode node;

            node = (DefaultMutableTreeNode)

                     (e.getTreePath().getLastPathComponent());

 

            /*

             * If the event lists children, then the changed

             * node is the child of the node we've already

             * gotten.  Otherwise, the changed node and the

             * specified node are the same.

             */

            try {

                int index = e.getChildIndices()[0];

                node = (DefaultMutableTreeNode)

                       (node.getChildAt(index));

            } catch (NullPointerException exc) {}

 

            System.out.println("The user has finished editing the node.");

            System.out.println("New value: " + node.getUserObject());

        }

        public void treeNodesInserted(TreeModelEvent e) {

        }

        public void treeNodesRemoved(TreeModelEvent e) {

        }

        public void treeStructureChanged(TreeModelEvent e) {

        }

    }

}

 

DynamicTreeDemo.java

package dynamicTree;

 

/*

 * This code is based on an example provided by Richard Stanford,

 * a tutorial reader.

 */

 

import java.awt.BorderLayout;

import java.awt.Dimension;

import java.awt.GridLayout;

import java.awt.event.ActionEvent;

import java.awt.event.ActionListener;

import javax.swing.JButton;

import javax.swing.JFrame;

import javax.swing.JPanel;

import javax.swing.tree.DefaultMutableTreeNode;

 

public class DynamicTreeDemo extends JPanel

                             implements ActionListener {

    private int newNodeSuffix = 1;

    private static String ADD_COMMAND = "add";

    private static String REMOVE_COMMAND = "remove";

    private static String CLEAR_COMMAND = "clear";

   

    private DynamicTree treePanel;

 

    public DynamicTreeDemo() {

        super(new BorderLayout());

       

        //Create the components.

        treePanel = new DynamicTree();

        populateTree(treePanel);

 

        JButton addButton = new JButton("Add");

        addButton.setActionCommand(ADD_COMMAND);

        addButton.addActionListener(this);

       

        JButton removeButton = new JButton("Remove");

        removeButton.setActionCommand(REMOVE_COMMAND);

        removeButton.addActionListener(this);

       

        JButton clearButton = new JButton("Clear");

        clearButton.setActionCommand(CLEAR_COMMAND);

        clearButton.addActionListener(this);

 

        //Lay everything out.

        treePanel.setPreferredSize(new Dimension(300, 150));

        add(treePanel, BorderLayout.CENTER);

 

        JPanel panel = new JPanel(new GridLayout(0,1));

        panel.add(addButton);

        panel.add(removeButton);

        panel.add(clearButton);

        add(panel, BorderLayout.LINE_END);

    }

 

    public void populateTree(DynamicTree treePanel) {

        String p1Name = new String("Parent 1");

        String p2Name = new String("Parent 2");

        String c1Name = new String("Child 1");

        String c2Name = new String("Child 2");

 

        DefaultMutableTreeNode p1, p2;

 

        p1 = treePanel.addObject(null, p1Name);

        p2 = treePanel.addObject(null, p2Name);

 

        treePanel.addObject(p1, c1Name);

        treePanel.addObject(p1, c2Name);

 

        treePanel.addObject(p2, c1Name);

        treePanel.addObject(p2, c2Name);

    }

   

    public void actionPerformed(ActionEvent e) {

        String command = e.getActionCommand();

       

        if (ADD_COMMAND.equals(command)) {

            //Add button clicked

            treePanel.addObject("New Node " + newNodeSuffix++);

        } else if (REMOVE_COMMAND.equals(command)) {

            //Remove button clicked

            treePanel.removeCurrentNode();

        } else if (CLEAR_COMMAND.equals(command)) {

 &

use_sim_time: True amcl: ros__parameters: use_sim_time: ${use_sim_time} # 继承全局时间配置 alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_link" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: False global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "differential" # 根据机器人类型调整(差速/全向) save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: True transform_tolerance: 0.5 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 # 行为树导航器配置 bt_navigator: ros__parameters: use_sim_time: ${use_sim_time} global_frame: map robot_base_frame: base_link odom_topic: /odom # 使用绝对路径确保找到正确的BT文件,避免路径冲突 default_bt_xml_filename: "/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node # 添加路径贯穿多个目标点的插件 - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_remove_passed_goals_action_bt_node # 控制器配置(本地规划) controller_server: ros__parameters: use_sim_time: ${use_sim_time} controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 # 差速机器人可设为0.0 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] controller_plugins: ["FollowPath"] # 进度检查器参数 progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # 超时未移动则触发恢复行为 # 目标检查器参数 general_goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 # 位置误差容忍度(米) yaw_goal_tolerance: 0.25 # 角度误差容忍度(弧度) stateful: True # DWB本地规划器参数 FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 max_vel_x: 0.26 # 最大线速度(根据机器人调整) min_vel_y: 0.0 max_vel_y: 0.0 # 差速机器人Y方向速度为0 min_vel_theta: -1.82 max_vel_theta: 1.82 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 1 # 差速机器人Y方向采样数设为1 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.5 xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 rot_stopped_velocity: 0.25 prune_plan: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 # 局部代价地图配置 local_costmap: local_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 5.0 # 更新频率(Hz) publish_frequency: 2.0 # 发布频率(Hz) global_frame: odom # 局部地图参考系(里程计) robot_base_frame: base_link rolling_window: true # 滚动窗口(跟随机器人移动) width: 3 # 宽度(米) height: 3 # 高度(米) resolution: 0.05 # 分辨率(米/格) transform_tolerance: 0.5 plugins: ["voxel_layer", "inflation_layer"] voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan # 激光雷达数据来源 scan: topic: /scan # 激光雷达话题(确保与实际一致) max_obstacle_height: 2.0 clearing: True # 允许清除障碍物 marking: True # 允许标记障碍物 data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 # 膨胀半径(根据机器人半径调整) cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 全局代价地图配置 global_costmap: global_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 1.0 publish_frequency: 1.0 global_frame: map # 全局地图参考系(地图) robot_base_frame: base_link robot_radius: 0.22 # 机器人半径(米,根据实际调整) resolution: 0.05 transform_tolerance: 0.2 plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" enabled: True map_subscribe_transient_local: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 地图服务器配置 map_server: ros__parameters: use_sim_time: ${use_sim_time} # 确保地图文件路径正确(.yaml和.pgm文件需在同一目录) yaml_filename: "/home/yahboom/hex_aqacs_planner/map.yaml" # 规划器服务器配置(全局规划) planner_server: ros__parameters: use_sim_time: ${use_sim_time} expected_planner_frequency: 20.0 planner_plugins: ["AQACSPlanner"] # 使用AQACS规划器 AQACSPlanner: # 修正插件名称格式,使用命名空间形式 plugin: "hex_aqacs_planner::AQACSPlanner" alpha: 1.0 beta: 2.0 rho: 0.1 ant_count: 50 q: 100.0 hex_side: 0.1 # 六边形边长(米) # 生命周期管理器配置(关键:管理节点启动顺序) lifecycle_manager_navigation: ros__parameters: use_sim_time: ${use_sim_time} # 节点启动顺序:先启动地图和定位,再启动规划和控制 node_names: ["map_server", "amcl", "planner_server", "controller_server", "bt_navigator"] autostart: True # 自动启动所有节点 bond_timeout: 10000 # 超时时间(毫秒) 帮我修改一下吧
最新发布
10-27
<think>我们之前遇到的问题是在启动导航时,多个节点因为参数文件解析错误而崩溃。错误信息明确指出了问题所在:参数文件的结构不符合要求,即参数文件顶层必须有节点名,然后节点名下面要有`ros__parameters`字段,再下面才是具体的参数键值对。 现在用户提供了关于map_server配置的参考信息(引用[1]),但这主要是关于地图文件的配置参数。虽然这与参数文件有关,但当前的主要问题是如何重构整个参数文件以满足ROS 2的参数文件结构要求。 因此,我们需要修改参数文件(params.yaml)的结构,将每个节点的参数分别放在相应的节点名称下,并且每个节点参数都要包含在`ros__parameters`中。 假设原来的params.yaml可能是这样的(错误的顶层结构): ```yaml use_sim_time: true planner_server: planner_plugins: ["GridBased"] GridBased: how_many_corners: 8 controller_server: controller_plugins: ["FollowPath"] ``` 正确的结构应该是: ```yaml planner_server: ros__parameters: use_sim_time: true # 注意:这里每个节点都可以有自己的use_sim_time,但通常我们会在顶层设置一个全局的,然后让所有节点继承。但每个节点都需要在ros__parameters下有自己的参数。 planner_plugins: ["GridBased"] GridBased: how_many_corners: 8 controller_server: ros__parameters: use_sim_time: true controller_plugins: ["FollowPath"] # 注意:如果有全局参数(如use_sim_time)需要每个节点都使用,那么必须在每个节点的ros__parameters下都设置,或者通过launch文件传递全局参数。 # 另外,map_server节点也要有自己的参数块 map_server: ros__parameters: use_sim_time: true yaml_filename: "path/to/map.yaml" # 这里也可以直接指定地图文件,但通常我们会在启动节点时单独指定地图文件 # 注意:引用[1]中提到的参数实际上是map_server加载的地图描述文件(YAML)中的参数,而不是节点参数。但是,节点参数中也可以包含一些配置,比如话题名称等。 # 其他节点(amcl, bt_navigator, lifecycle_manager等)同理 ``` 然而,实际情况中,导航栈的节点(如`planner_server`, `controller_server`)通常会有很多参数,我们不可能在这里全部列举。用户需要根据自己原来的参数文件进行结构调整。 另外,在启动文件中,我们可能使用了`--params-file`来指定这个参数文件。在修复文件结构后,各个节点就能正确解析参数了。 针对用户提供的引用[1](关于map_server的配置文件),这里需要说明:map_server节点在启动时通常需要两个参数:一个是地图的YAML描述文件(其中包含图片路径、分辨率、原点等),另一个是节点自身的参数(如话题名称等)。在参数文件中配置map_server时,我们可以在`map_server`节点下设置节点参数,而地图文件则通常在启动节点时通过参数传递(例如:`map_server`节点有一个参数`yaml_filename`,用来指定地图描述文件)。所以,在参数文件中,我们可能会这样配置map_server节点参数: ```yaml map_server: ros__parameters: use_sim_time: true # 可以设置其他节点参数,比如话题重映射 topic_name: "map" # 默认发布的地图话题 ``` 而地图描述文件(如map.yaml)的内容则如引用[1]所述: ```yaml image: map.png resolution: 0.04 origin: [-20.499653, -9.56729, 0.0] occupied_thresh: 0.65 free_thresh: 0.196 negate: 0 ``` 总结步骤: 1. 打开参数文件(`/home/yahboom/hex_aqacs_planner/install/hex_aqacs_planner/share/hex_aqacs_planner/params.yaml`)。 2. 检查文件结构,确保每个节点的参数都嵌套在节点名和`ros__parameters`下。 3. 对于原来在顶层的参数,需要将其移动到相应节点的`ros__parameters`下。特别是,如果原来有全局的`use_sim_time`,那么需要复制到每个节点下(或者通过launch文件全局设置)。 4. 保存文件并重新启动。 另外,关于静态变换的警告,我们之前已经提到过,需要将`static_transform_publisher`的参数传递方式从旧式的`arguments`改为新式的`parameters`。在启动文件中,应该这样修改: 旧方式(产生警告): ```python Node( package='tf2_ros', executable='static_transform_publisher', arguments=['0', '0', '0.1', '0', '0', '0', 'base_link', 'base_scan'] ) ``` 新方式(无警告): ```python Node( package='tf2_ros', executable='static_transform_publisher', name='static_transform_publisher_laser', parameters=[{ 'x': 0.0, 'y': 0.0, 'z': 0.1, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, 'frame_id': 'base_link', 'child_frame_id': 'base_scan' }] ) ``` 注意:新方式中,我们通过一个字典来传递参数,其中坐标系变换的6自由度(x, y, z, roll, pitch, yaw)以及父坐标系(frame_id)和子坐标系(child_frame_id)都明确指定。 因此,用户需要做两件事: 1. 修复参数文件的结构。 2. 修复启动文件中静态坐标变换发布节点的参数传递方式。 这样,启动时就不会出现参数解析错误和静态变换的警告了。 最后,关于参数文件的结构,如果用户不确定某个节点需要哪些参数,可以参考ROS 2导航栈的文档,或者查看节点的源代码中声明的参数。 生成的相关问题: 1. 如何为ROS 2导航栈的不同节点配置参数? 2. 如何在ROS 2中正确使用静态坐标变换? 3. map_server节点参数和地图描述文件有什么区别? </think>### 修复ROS 2导航参数文件解析错误 #### 问题核心分析 错误信息 `Error: Cannot have a value before ros__parameters at line 1` 表明参数文件违反了ROS 2的YAML结构要求。ROS 2要求参数必须严格嵌套在节点命名空间和`ros__parameters`键下: **错误结构示例**: ```yaml use_sim_time: true # ✘ 错误:顶层直接定义参数 resolution: 0.05 ``` **正确结构示例**: ```yaml controller_server: # 节点命名空间 ros__parameters: # 必需键 use_sim_time: true resolution: 0.05 ``` #### 修复步骤(以map_server为例) 修改 `/home/yahboom/hex_aqacs_planner/params.yaml`: ```yaml # 正确结构示例 map_server: ros__parameters: yaml_filename: "map.yaml" # 地图描述文件路径 topic_name: "map" # 发布的话题名 frame_id: "map" # 坐标系ID # 地图描述文件内容(独立文件map.yaml) image: map.png # 占用栅格图路径[^1] resolution: 0.04 # 米/像素[^1] origin: [-20.5, -9.57, 0.0] # 初始位姿(x,y,yaw)[^1] occupied_thresh: 0.65 # 占据概率阈值[^1] free_thresh: 0.196 # 空闲概率阈值[^1] negate: 0 # 颜色反转标识[^1] ``` #### 完整参数文件结构 ```yaml # 所有节点参数都需要嵌套结构 amcl: ros__parameters: use_sim_time: true min_particles: 500 max_particles: 5000 controller_server: ros__parameters: controller_frequency: 20.0 progress_checker_plugin: "progress_checker" planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: how_many_corners: 8 ``` #### 坐标系变换修复 在启动文件 `hex_navigation_launch.py` 中修正静态变换: ```python Node( package='tf2_ros', executable='static_transform_publisher', name='base_to_lidar', parameters=[{ # 结构化参数 'x': 0.0, 'y': 0.0, 'z': 0.1, # 平移 (m) 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, # 旋转 (rad) 'frame_id': 'base_link', # 父坐标系 'child_frame_id': 'base_scan' # 子坐标系 }] ) ``` #### 验证方法 1. **检查YAML语法**: ```bash ros2 run nav2_util param_validation -f params.yaml ``` 2. **单独启动节点测试**: ```bash ros2 run nav2_map_server map_server --ros-args --params-file params.yaml ``` #### 参数文件设计原理 ROS 2参数系统遵循命名空间隔离原则: $$ \text{参数路径} = \underbrace{\text{节点名}}_{\text{命名空间}} \rightarrow \underbrace{\texttt{ros\_\_parameters}}_{\text{保留键}} \rightarrow \underbrace{\text{参数键值对}}_{\text{用户定义}} $$ 这种设计确保不同节点的同名参数不会冲突[^1]。
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