网站黑色代码,安徽省住房和建设执业资格注册中心网站,网站平台搭建技术,access快速开发平台目录创建功能包参数命令行使用YAML参数文件rosparamC编写程序配置CMakeLists.txt编译并运行python编写程序运行平台#xff1a;华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本#xff1a;Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月ROS入门21讲 | …
目录创建功能包参数命令行使用YAML参数文件rosparamC编写程序配置CMakeLists.txt编译并运行python编写程序运行平台华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程 —— 古月居GYH P16 16.参数的使用与编程方法
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-000c29d22e4drosparam
# 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_keyC
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 string
#include ros/ros.h
#include std_srvs/Empty.hint 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.serviceClientstd_srvs::Empty(/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_configpython
编写程序
cd ~/catkin_workspace/src/learning_parameter
mkdir scripts
nano ~/catkin_workspace/src/learning_parameter/scripts/parameter_config.py#!/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 Emptydef parameter_config():# ROS节点初始化rospy.init_node(parameter_config, anonymousTrue)# 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servicerospy.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 responseexcept rospy.ServiceException, e:print Service call failed: %s%eif __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
