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cd ~/catkin_workspace/src catkin_create_pkg learning_parameter roscpp rospy std_srvs 参数命令行使用 YAML参数文件 background_b: 255 background_g: 86 background_r: 69 rosdistro: 'lunar' roslaunch: uris: {host_hcx_vpc__43763: 'http://hcx-vpc:43763/'} rosversion: '1.14.31' run_id: 077058de-a38b-11e9-818b-000c29d22e4d rosparam # 新建一个终端 roscore # 新建一个终端 rosrun turtlesim turtlesim_node # 新建一个终端 rosparam 列出当前参数 rosparam list 显示某个参数值 rosparam get param_key设置某个参数值 rosparam set param_key param_value保存参数到文件 rosparam dump file_name 从文件读取参数 rosparam load file_name 删除参数 rosparam delete param_key C++ 编写程序 nano ~/catkin_workspace/src/learning_parameter/src/parameter_config.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************/ /** * 该例程设置/读取海龟例程中的参数 */ #include #include #include int main(int argc, char **argv) { int red, green, blue; // ROS节点初始化 ros::init(argc, argv, "parameter_config"); // 创建节点句柄 ros::NodeHandle node; // 读取背景颜色参数 ros::param::get("/background_r", red); ros::param::get("/background_g", green); ros::param::get("/background_b", blue); ROS_INFO("Get Backgroud Color[%d, %d, %d]", red, green, blue); // 设置背景颜色参数 ros::param::set("/background_r", 255); ros::param::set("/background_g", 255); ros::param::set("/background_b", 255); ROS_INFO("Set Backgroud Color[255, 255, 255]"); // 读取背景颜色参数 ros::param::get("/background_r", red); ros::param::get("/background_g", green); ros::param::get("/background_b", blue); ROS_INFO("Re-get Backgroud Color[%d, %d, %d]", red, green, blue); // 调用服务,刷新背景颜色 ros::service::waitForService("/clear"); ros::ServiceClient clear_background = node.serviceClient std_srvs::Empty srv; clear_background.call(srv); sleep(1); return 0; } 配置CMakeLists.txt nano ~/catkin_workspace/src/learning_parameter/CMakeLists.txt 添加 add_executable(parameter_config src/parameter_config.cpp) target_link_libraries(parameter_config ${catkin_LIBRARIES}) 编译并运行 cd ~/catkin_workspace catkin_make # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_parameter parameter_config python 编写程序 cd ~/catkin_workspace/src/learning_parameter mkdir scripts nano ~/catkin_workspace/src/learning_parameter/scripts/parameter_config.py 1 2 3 #!/usr/bin/env python # -*- coding: utf-8 -*- ######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################## # 该例程设置/读取海龟例程中的参数 import sys import rospy from std_srvs.srv import Empty def parameter_config(): # ROS节点初始化 rospy.init_node('parameter_config', anonymous=True) # 读取背景颜色参数 red = rospy.get_param('/background_r') green = rospy.get_param('/background_g') blue = rospy.get_param('/background_b') rospy.loginfo("Get Backgroud Color[%d, %d, %d]", red, green, blue) # 设置背景颜色参数 rospy.set_param("/background_r", 255); rospy.set_param("/background_g", 255); rospy.set_param("/background_b", 255); rospy.loginfo("Set Backgroud Color[255, 255, 255]"); # 读取背景颜色参数 red = rospy.get_param('/background_r') green = rospy.get_param('/background_g') blue = rospy.get_param('/background_b') rospy.loginfo("Get Backgroud Color[%d, %d, %d]", red, green, blue) # 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service rospy.wait_for_service('/clear') try: clear_background = rospy.ServiceProxy('/clear', Empty) # 请求服务调用,输入请求数据 response = clear_background() return response except rospy.ServiceException, e: print "Service call failed: %s"%e if __name__ == "__main__": parameter_config() 运行 sudo chmod +x ~/catkin_workspace/src/learning_parameter/scripts/parameter_config.py # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_parameter parameter_config.py |
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