ROS理解参数服务器param demo

最新推荐文章于 2024-07-24 22:06:14 发布

翻译最新推荐文章于 2024-07-24 22:06:14 发布 · 358 阅读

2 ·

CC 4.0 BY-SA版权

原文链接：http://wiki.ros.org/roscpp/Overview/Parameter%20Server

ROS 专栏收录该内容

26 篇文章

订阅专栏

本文深入讲解了在ROS中如何使用param_demo.cpp进行参数获取、设置、检查和删除操作。通过示例代码，详细展示了ros::param::get(), ros::NodeHandle::getParam(), ros::NodeHandle::param(), ros::param::set(), ros::NodeHandle::setParam(), ros::NodeHandle::hasParam(), ros::param::has(), ros::NodeHandle::deleteParam()和ros::param::del()等方法的使用，并解释了如何在param_demo_cpp.launch中配置参数。

param_demo.cpp

// param_demo.cpp
#include<ros/ros.h>

int main(int argc, char **argv){
        ros::init(argc, argv, "param_demo");
        ros::NodeHandle nh;
        int parameter1, parameter2, parameter3, parameter4, parameter5;

        //Get Param的三种方法
        //① ros::param::get()获取参数“param1”的value，写入到parameter1上
        bool ifget1 = ros::param::get("param1", parameter1);

        //② ros::NodeHandle::getParam()获取参数，与①作用相同
        bool ifget2 = nh.getParam("param2",parameter2);

        //③ ros::NodeHandle::param()类似于①和②
        //但如果get不到指定的param，它可以给param指定一个默认值(如33333)
        nh.param("param3", parameter3, 33333);

        if(ifget1)
                ROS_INFO("Get param1 = %d", parameter1);
        else
                ROS_WARN("Didn't retrieve param1");
       if(ifget2)
                ROS_INFO("Get param2 = %d", parameter2);
        else
                ROS_WARN("Didn't retrieve param2");
        if(nh.hasParam("param3"))
                ROS_INFO("Get param3 = %d", parameter3);
        else
                ROS_WARN("Didn't retrieve param3");


    //Set Param的两种方法
        //① ros::param::set()设置参数
        parameter4 = 4;
        ros::param::set("param4", parameter4);

        //② ros::NodeHandle::setParam()设置参数
        parameter5 = 5;
        nh.setParam("param5",parameter5);

        ROS_INFO("Param4 is set to be %d", parameter4);
        ROS_INFO("Param5 is set to be %d", parameter5);


        //Check Param的两种方法
        //① ros::NodeHandle::hasParam()
        bool ifparam5 = nh.hasParam("param5");

        //② ros::param::has()
        bool ifparam6 = ros::param::has("param6");

        if(ifparam5)
                ROS_INFO("Param5 exists");
        else
                ROS_INFO("Param5 doesn't exist");
        if(ifparam6)
                ROS_INFO("Param6 exists");

        else
                ROS_INFO("Param6 doesn't exist");


        //Delete Param的两种方法
        //① ros::NodeHandle::deleteParam()
        bool ifdeleted5 = nh.deleteParam("param5");

        //② ros::param::del()
        bool ifdeleted6 = ros::param::del("param6");


        if(ifdeleted5)
                ROS_INFO("Param5 deleted");
        else
                ROS_INFO("Param5 not deleted");

        if(ifdeleted6)
                ROS_INFO("Param6 deleted");
        else
                ROS_INFO("Param6 not deleted");


        ros::Rate rate(0.3);
        while(ros::ok()){
                int parameter = 0;

                ROS_INFO("=============Loop==============");
                //roscpp中尚未有ros::param::getallparams()之类的方法
                if(ros::param::get("param1", parameter))
                        ROS_INFO("parameter param1 = %d", parameter);
                if(ros::param::get("param2", parameter))
                        ROS_INFO("parameter param2 = %d", parameter);
                if(ros::param::get("param3", parameter))
                        ROS_INFO("parameter param3 = %d", parameter);
                if(ros::param::get("param4", parameter))
                        ROS_INFO("parameter param4 = %d", parameter);
                if(ros::param::get("param5", parameter))
                        ROS_INFO("parameter param5 = %d", parameter);
                if(ros::param::get("param6", parameter))
                        ROS_INFO("parameter param6 = %d", parameter);
                rate.sleep();
        }
}

param_demo_cpp.launch

<launch>
    <!--param参数配置-->
    <param name="param1" value="1" />
    <param name="param2" value="2" />
    <!--param name="table_description" command="$(find xacro)/xacro.py $(find gazebo_worlds)/objects/table.urdf.xacro" /-->

    <!--rosparam参数配置-->
    <rosparam>   
        param3: 3
        param4: 4
        param5: 5
    </rosparam>
    <!--以上写法将参数转成YAML文件加载，注意param前面必须为空格，不能用Tab，否则YAML解析错误-->
    <!--rosparam file="$(find robot_sim_demo)/config/xbot-u_control.yaml" command="load" /-->
    <node pkg="param_demo" type="param_demo" name="param_demo" output="screen" />

    

</launch>