1. rosparam简单使用:
1.1 工作空间
使用ubuntu系统,文件组织如下:(ros包名等自拟参数可以更改)
ros_ws
├── ros_test.launch
└── src
└── using_markers
├── CMakeLists.txt
├── package.xml
├── src
└── ros_para.cpp
ros_para.cpp
/解决ros参数传递不进去的问题
# include <iostream>
# include <ros/ros.h>
double parameter1=0;//初始化为0
int main(int argc, char **argv){
ros::init(argc, argv, "para");
// ros::NodeHandle nh;-----我这个示例中参数传递不成功的地方
ros::NodeHandle nh("~");
//通过rosparam初始化为0.05,与第五行对比看rosparam有没有起作用
//double也可以选为其他数据类型,如bool、int、string等
nh.param<double>("parameter1", parameter1, 0.05);
std::cout<<"parameter1: "<<parameter1<<std::endl;
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(using_markers)
find_package(catkin REQUIRED COMPONENTS
roscpp
visualization_msgs
)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(ros_para src/ros_para.cpp)
target_link_libraries(ros_para ${catkin_LIBRARIES})
package.xml
<?xml version="1.0"?>
<package format="2">
<name>using_markers</name>
<version>0.0.0</version>
<description>The using_markers package</description>
<maintainer email="meng@todo.todo">meng</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>visualization_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>visualization_msgs</exec_depend>
<export>
</export>
</package>
ros_test.launch
<launch>
<node pkg="using_markers" type="ros_para" name="ros_para" output="screen" >
<param name="parameter1" value="1" />
</node>
</launch>
1.2 编译运行
cd xxx/ros_ws
catkin_make
source devel/setup.bash
roslaunch ros_test.launch
打印输出parameter1为1,不是0或0.05,说明通过ros的param工具修改了参数
2 rosparam参数传递不成功示例
上述其他文件不变,只修改ros_para.cpp文件,如下所示:
ros::NodeHandle nh;-----我这个示例中参数传递不成功的地方
//ros::NodeHandle nh("~");
重新编译运行,发现打印输出值为0.05,是在cpp程序中通过rosparam初始化的值,这说明launch文件没有把参数传递进来———是没加(”~”)的缘故
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