请问一下ROS参数的编程方法是什么

创建功能包
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("/clear");
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

创建功能包
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("/clear");
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

举报