ROS小练习——参数设置

目录

一、参数名获取

二、参数修改

1、代码修改

C++

python

2、命令行修改

3、启动时修改

4、launch文件传参修改

一、参数名获取

rosparam list

二、参数修改

1、代码修改

C++

#include "ros/ros.h"


int main(int argc, char *argv[])
{
    ros::init(argc,argv,"haha");

    ros::NodeHandle nh("turtlesim");
    //ros::NodeHandle nh;

    // ros::param::set("/turtlesim/background_r",0);
    // ros::param::set("/turtlesim/background_g",0);
    // ros::param::set("/turtlesim/background_b",0);

    nh.setParam("background_r",0);
    nh.setParam("background_g",0);
    nh.setParam("background_b",0);


    return 0;
}

python

#! /usr/bin/env python

import rospy

if __name__ == "__main__":
    rospy.init_node("hehe")
    # rospy.set_param("/turtlesim/background_r",255)
    # rospy.set_param("/turtlesim/background_g",255)
    # rospy.set_param("/turtlesim/background_b",255)
    rospy.set_param("background_r",255)
    rospy.set_param("background_g",255)
    rospy.set_param("background_b",255) 

2、命令行修改

rosparam set /turtlesim/background_b 自定义数值

3、启动时修改

rosrun turtlesim turtlesim_node _background_r:=100 _background_g=0 _background_b=0

4、launch文件传参修改

<launch>
    <node pkg="turtlesim" type="turtlesim_node" name="set_bg" output="screen">
        <!-- launch 传参策略 -->
        <param name="background_b" value="0" type="int" />
        <param name="background_g" value="0" type="int" />
        <param name="background_r" value="0" type="int" />
     
    </node>

</