在ROS2中,我们可以通过add_on_set_parameters_callback方法为节点添加一个参数更新回调函数。当参数的值发生改变时,ROS2会自动调用这个回调函数,并将改变后的参数作为参数传入。下面是参数更新回调的完整代码实现: from rcl_interfaces.msg import SetParametersResult, SetParameterResult class CameraDriverNode: # ......
callback_handle_ = this->add_on_set_parameters_callback( std::bind(&TestParamsCallback::parametersCallback, this, std::placeholders::_1)); } private: std::string motor_device_port_; int control_loop_frequency_; bool simulation_mode_; OnSetParametersCallbackHandle::SharedPtr callback_handle...
在ROS2中,我们可以通过add_on_set_parameters_callback方法为节点添加一个参数更新回调函数。当参数的值发生改变时,ROS2会自动调用这个回调函数,并将改变后的参数作为参数传入。下面是参数更新回调的完整代码实现: from rcl_interfaces.msg import SetParametersResult, SetParameterResult class CameraDriverNode: # ......
get_parameter('camera_device_port').value self.simulation_mode_ = self.get_parameter('simulation_mode').value self.battery_percentage_warning_ = self.get_parameter('battery_percentage_warning').value self.add_on_set_parameters_callback(self.parameters_callback) ......
/node_name/set_parameters: Uses a service type of rcl_interfaces/srv/SetParameters. Given a list of parameter names and values, attempts to set the parameters on the node. Returns a list of results from trying to set each parameter; some of them may have succeeded and some may have failed...
Parameters: rclcpp::Node::set_parameters() rclcpp::Node::get_parameters() rclcpp::Node::get_parameter() rclcpp::Node::describe_parameters() rclcpp::Node::list_parameters() rclcpp::Node::add_on_set_parameters_callback() rclcpp::Node::remove_on_set_parameters_callback() rclcpp::Parameter rc...
gen.add("motor4_exchange_flag", bool_t, 0, "exchange motor4 wire", False) gen.add("encoder1_exchange_flag", bool_t, 0, "exchange encoder1 wire", False) gen.add("encoder2_exchange_flag", bool_t, 0, "exchange encoder2 wire", False) ...
self.add_on_set_parameters_callback(self.parameter_callback) What you do inside the callback is up to you and depends on your application (to go further on this, check out this more completerclpy parameter callback tutorial). You may wish to store the new parameter’s value, change a ...
It is brought to my attention dynamic parameter handling matured in Humble that allows us to use the add_post_set_parameters_callback instead of add_on_set_parameters_callback for processing parameter updates into member functions. This was brought up from a conversation started by @pepisg and...
("max_speed", 10); // 添加参数更改回调 parameter_callback_handle_ = this->add_on_set_parameters_callback( [this](const std::vector<rclcpp::Parameter> ¶ms) -> rcl_interfaces::msg::SetParametersResult { rcl_interfaces::msg::SetParametersResult result; result....