ROS参数管理器

rosparam常用指令在cpp中读取和设置rosparam获取参数设置参数 在launch文件中设置rosparamyaml文件加载直接在launch文件中添加 练习例子

rosparam常用指令

这里列出部分指令，详细可参考link

rosparam list rosparam get parameter_name rosparam set parameter_name value rosparam delete parameter_name rosparam load dump.yaml

在cpp中读取和设置rosparam

详细信息见link

获取参数

方式一 ros::NodeHandle nh; std::string global_name, relative_name, default_param; if (nh.getParam("/global_name", global_name)) { ... } if (nh.getParam("relative_name", relative_name)) { ... } // Default value version nh.param<std::string>("default_param", default_param, "default_value"); 方式二 std::string global_name, relative_name, default_param; if (ros::param::get("/global_name", global_name)) { ... } if (ros::param::get("relative_name", relative_name)) { ... } // Default value version ros::param::param<std::string>("default_param", default_param, "default_value");

设置参数

方式一 ros::NodeHandle nh; nh.setParam("/global_param", 5); nh.setParam("relative_param", "my_string"); nh.setParam("bool_param", false); 方式二 ros::param::set("/global_param", 5); ros::param::set("relative_param", "my_string"); ros::param::set("bool_param", false);

在launch文件中设置rosparam

具体参见link

yaml文件加载

<rosparam command="load" file="$(find rosparam)/example.yaml" /> <rosparam command="delete" param="my/param" />

直接在launch文件中添加

<rosparam> a: 1 b: 2 </rosparam>

练习例子

cd workspace/src catkin_create_pkg param_src roscpp

添加param_demo.cpp作为可执行文件

#include "ros/ros.h" #include <iostream> int main(int argc, char *argv[]) { ros::init(argc,argv,"hello_param"); ros::NodeHandle nh; std::string topic_name; float width ,height; bool is_view; nh.getParam("camera/topic",topic_name); nh.getParam("camera/width",width); nh.getParam("camera/height",height); nh.getParam("view",is_view); std::cout<<"--"<<topic_name<<" "<<width<<" "<<height<<" "<<is_view<<std::endl; return 0; }

添加config/parameters.yaml文件

camera: topic: image_raw width: 640 height: 480 view: false

launch文件(param_demo.launch):

<launch> <!--<rosparam file="$(find param_prac)/config/parameters.yaml" command="load" />--> <rosparam> camera: topic: image_raw width: 640 height: 480 view: false </rosparam> <node pkg="param_prac" type="param_demo" name="param_demo" output="screen" /> </launch>

执行：

roslaunch param_prac param_demo.launch

结果：

--image_raw 640 480 0