ROS学习第十四节——参数服务器控制小乌龟

1.使用命令修改参数服务器

单独使用命令启动小乌龟节点，不是用lanuch文件，不启动键盘控制节点

rosrun turtlesim turtlesim_node

使用命令打印参数服务器参数列表

rosparam list

修改小乌龟节点的背景色

rosparam set /turtlesim/background_b 自定义数值

rosparam set /turtlesim/background_g 自定义数值

rosparam set /turtlesim/background_r 自定义数值

修改相关参数后，重启 turtlesim_node 节点，背景色就会发生改变了

2.启动节点时，直接设置参数

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

3.通过launch文件传参

<launch><node pkg="turtlesim" type="turtlesim_node" name="set_bg" output="screen"><!-- launch 传参策略1 --><!-- <param name="background_b" value="0" type="int" /><param name="background_g" value="0" type="int" /><param name="background_r" value="0" type="int" /> --><!-- launch 传参策略2 --><rosparam command="load" file="$(find demo03_test_parameter)/cfg/color.yaml" /></node></

4.C++实现修改参数服务器参数

创建编程文件，编写代码，编辑配置文件

/*注意命名空间的使用。*/
#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;
}

add_executable(change_rgb_c src/change_rgb_c.cpp)
target_link_libraries(change_rgb_c${catkin_LIBRARIES}
)

  运行程序查看效果

rosrun control_turtle0 change_rgb_c
rosrun turtlesim turtlesim_node

 5.Python实现修改参数服务器参数

新建编程文件，编辑配置文件，添加可执行权限

#! /usr/bin/env python
# -*- coding: UTF-8 -*-import rospyif __name__ == "__main__":rospy.init_node("hehe")rospy.set_param("/turtlesim/background_r",255)rospy.set_param("/turtlesim/background_g",0)rospy.set_param("/turtlesim/background_b",0)# rospy.set_param("background_r",0)# rospy.set_param("background_g",0)# rospy.set_param("background_b",255)  # 调用时，需要传入 __ns:=xxx

catkin_install_python(PROGRAMSscripts/change_rgb_p.pyDESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

 运行查看结果

rosrun control_turtle0 change_rgb_p.py 
rosrun turtlesim turtlesim_nod

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