RCLCPP_INFO(this->get_logger(), "节点已启动:%s.", name.c_str()); this->declare_parameter("rcl_log_level", 0); /*声明参数*/ this->get_parameter("rcl_log_level", log_level); /*获取参数*/ /*设置日志级别*/ this->get_logger().set_level((rclcpp::Logger::Level)log_level); usi...
RCLCPP_INFO(this->get_logger(), "节点已启动:%s.", name.c_str()); this->declare_parameter("rcl_log_level", 0); /*声明参数*/ this->get_parameter("rcl_log_level", log_level); /*获取参数*/ /*设置日志级别*/ this->get_logger().set_level((rclcpp::Logger::Level)log_level); usi...
rclcpp::ParameterValue param = node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER); The return type here is a rclcpp::ParameterValue, which will be of type int64_t if the parameter is initialized or of type "PARAMETER_NOT_SET" when not. The templated version re...
this->declare_parameter("simulation_mode", false); motor_device_port_ = this->get_parameter("motor_device_port").as_string(); control_loop_frequency_ = this->get_parameter("control_loop_frequency").as_int(); simulation_mode_ = this->get_parameter("simulation_mode").as_bool(); callbac...
#include"rclcpp/rclcpp.hpp"classTestParamsCallback:publicrclcpp::Node{public:TestParamsCallback():Node("test_params_rclcpp"){this->declare_parameter("motor_device_port","/dev/ttyUSB0");this->declare_parameter("control_loop_frequency",100);this->declare_parameter("simulation_mode",false);motor...
Setting a parameter from your node means that it will override any value previously set, from inside or outside the node.Here’s how to set parameters one by one:TestParams() : Node("test_params_rclcpp") { this->declare_parameter("my_str", rclcpp::PARAMETER_STRING); this->declare_...
rclcpp::ParameterValue value = node->declare_parameter("parameter_and_default", default_value); EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER); EXPECT_EQ(value.get<int>(),42);//and not 43 which is the default value } But it could be an issue with composition specifically, or ...
{ this->declare_parameter("my_str", "default value"); const std::vector<rclcpp::Parameter> parameters = this->get_parameters({"my_str"}); this->add_on_set_parameters_callback(std::bind(&TestParams::parametersCallback, this, parameters)); } private: std::string my_str_; }; int ...
{ // 声明参数并设置默认值 this->declare_parameter("car_type","Tiger"); this->declare_parameter("height",1.50); this->declare_parameter("wheels",4); // 需要设置 rclcpp::NodeOptions().allow_undeclared_parameters(true),否则非法 this->set_parameter(rclcpp::Parameter("undcl_test",100)); ...
rename automatically_declare_initial_parameters to automatically_decl… … 9bad911 wjwwood added the in review label May 28, 2019 wjwwood self-assigned this May 28, 2019 wjwwood mentioned this pull request May 28, 2019 update parameter option names to be clearer ros2/ros2_documentation#242...