【RK3399Pro学习笔记】十二、ROS参数的使用与编程方法,富士j250（rsc2 富士）

文件名：【RK3399Pro学习笔记】十二、ROS参数的使用与编程方法,富士j250 【RK3399Pro学习笔记】十二、ROS参数的使用与编程方法

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

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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/srccatkin_create_pkg learning_parameter roscpp rospy std_srvs 参数命令行使用 YAML参数文件 background_b: 255background_g: 86background_r: 69rosdistro: '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 <string>#include <ros/ros.h>#include <std_srvs/Empty.h>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>("/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_workspacecatkin_make# 新建一个终端source ~/catkin_workspace/devel/setup.bashroscore# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun turtlesim turtlesim_node# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_parameter parameter_config

python 编写程序 cd ~/catkin_workspace/src/learning_parametermkdir scriptsnano ~/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 sysimport rospyfrom std_srvs.srv import Emptydef 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.bashroscore# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun turtlesim turtlesim_node# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_parameter parameter_config.py