ROS----参数

Posted 2020-11-26 feihu-h

一、基本方法

ROS 获取参数的方式：

ros::param::get()

ros::NodeHandle::getParam()

ros::NodeHandle::param()

 

ROS 设置参数的方式：

ros::param::set()

ros::NodeHandle::setParam()

二、示例

#include "ros/ros.h"
#include <cstdlib>
using namespace std;
int main (int argc,char **argv)
{
    // initial node and name
    ros::init(argc,argv,"node_param");

    // 检查参数个数
    if(argc!=2)
    {
        cout<<"Error command paramter"<<endl;
        return 0;
    }

    //create node handle
    ros::NodeHandle nh;

    //param variable
    int IntParam;
    string StrParam;
    bool isIntParam,  isStrParam;

    // mod flag
    int flag = atoi(argv[1]);
    switch(flag)
    {
        case 1:
            ROS_INFO("set param mod---- ros::param::set(): ");
            ros::param::set("IntParam",1);
            ros::param::set("StrParam","stringdemo");
            break;
        case 2:
            ROS_INFO("set param mod---- ros::NodeHandle::setParam(): ");
            nh.setParam("IntParam",1);
            nh.setParam("strrParam","stringdemo");
            break;
        case 3:
            ROS_INFO("get param mod---- ros::param::get(): ");
            isIntParam = ros::param::get("IntParam",IntParam);
            isStrParam = ros::param::get("StrParam",StrParam);

            if(isIntParam) ROS_INFO("IntParam=%d",IntParam);
            else ROS_INFO("Get IntParam fail! ");

            if(isStrParam) ROS_INFO("StrParam=%s",StrParam.c_str());
            else ROS_INFO("Get StrParam fail! ");
            break;
        case 4:
            ROS_INFO("get param mod---- ros::NodeHandle::getParam(): ");
            isIntParam = nh.getParam("IntParam",IntParam);
            isStrParam = nh.getParam("StrParam",StrParam);

            if(isIntParam) ROS_INFO("IntParam=%d",IntParam);
            else ROS_INFO("Get IntParam fail! ");

            if(isStrParam) ROS_INFO("StrParam=%s",StrParam.c_str());
            else ROS_INFO("Get StrParam fail! ");
            break;
        case 5:
            // 此方法可以设置默认数据
            ROS_INFO("get param mod---- ros::NodeHandle::param(): ");
            isIntParam = nh.param("IntParam",IntParam,11);
            isStrParam = nh.param<std::string>("StrParam",StrParam,"stringdemo_default");

            if(isIntParam) ROS_INFO("IntParam=%d",IntParam);
            else ROS_INFO("Get IntParam fail! ");

            if(isStrParam) ROS_INFO("StrParam=%s",StrParam.c_str());
            else ROS_INFO("Get StrParam fail! ");
            break;
        default:
            ROS_INFO("flag=%d.is not in range [1,5]",flag);
            break;

    }
    return 0;
}

 

运行节点：

rosrun params book_param 1

查看参数命令：

rosparam list

获取参数命令行：

rosparam get StrParam