self.declare_parameter('rcl_log_level', 0) # 获取参数 log_level = self.get_parameter("rcl_log_level").value # 设置参数 self.get_logger().set_level(log_level) # 定时修改 self.timer = self.create_timer(0.5, self.timer_callback) def timer_callback(self): """定时器回调函数""" # ...
rclpy 支持节点参数的设置和获取: class ParameterNode(Node): def __init__(self): super().__init__('parameter_node') self.declare_parameter('my_parameter', 'default_value') self.get_logger().info('Parameter value: %s' % self.get_parameter('my_parameter').get_parameter_value().string_v...
self.declare_parameter('rcl_log_level', 0) # 获取参数 log_level = self.get_parameter("rcl_log_level").value # 设置参数 self.get_logger().set_level(log_level) # 定时修改 self.timer = self.create_timer(0.5, self.timer_callback) def timer_callback(self): """定时器回调函数""" # ...
self.declare_parameter('simulation_mode', False) self.declare_parameter('battery_percentage_warning', 15.0) self.camera_device_port_ = self.get_parameter('camera_device_port').value self.simulation_mode_ = self.get_parameter('simulation_mode').value self.battery_percentage_warning_ = self.get_...
node.declare_parameter('double_param',1.23) node.declare_parameter('str_param','Hello World') node.declare_parameter('bool_array_param', [False,False,True]) node.declare_parameter('int_array_param', [1,2,3]) node.declare_parameter('str_array_param', ['foo','bar','baz']) ...
self.declare_parameter('my_str', rclpy.Parameter.Type.STRING) self.declare_parameter('my_int', rclpy.Parameter.Type.INTEGER) self.declare_parameter('my_double_array', rclpy.Parameter.Type.DOUBLE_ARRAY) # The following is just to start the node def main(args=None): rclpy.init(args=args) ...