新增cpp_parameters_node.cpp文件在dev_ws/src/cpp_parameters/src目录 内容如下: #include <rclcpp/rclcpp.hpp> #include <chrono> #include <string> #include <functional> using namespace std::chrono_literals; class ParametersCl
ros2 run cpp_parameters minimal_param_node 打开另一个终端,再次在ros2_ws目录下加载设置文件,然后输入以下命令: ros2 param list 你将在其中看到自定义参数my_parameter。要更改它,只需在控制台中运行以下命令: ros2 param set /minimal_param_node my_parameter earth 如果得到输出Set parameter successful...
参数的遍历通过list_parameter函数实现 #include "rclcpp/rclcpp.hpp" #include "rcl_interfaces/srv/list_parameters.hpp" #include <string> #include <iostream> class ParamSender: public rclcpp::Node { public: ParamSender():Node("param_server",rclcpp::NodeOptions().allow_undeclared_parameters(true).au...
{public:ParametersClass() :Node("parameter_node") {this->declare_parameter<std::string>("my_parameter","world"); timer_ =this->create_wall_timer(1000ms, std::bind(&ParametersClass::respond,this)); }voidrespond(){this->get_parameter("my_parameter", parameter_string_);RCLCPP_INFO(this->...
/turtlesim/list_parameters: rcl_interfaces/srv/ListParameters /turtlesim/set_parameters: rcl_interfaces/srv/SetParameters /turtlesim/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute ...
ParametersClass() : Node("parameter_node") { this->declare_parameter<std::string>("my_parameter", "world"); timer_ = this->create_wall_timer( 1000ms, std::bind(&ParametersClass::respond, this)); } void respond() { this->get_parameter("my_parameter", parameter_string_); ...
In the future it should be possible to implement the ROS protocol directly on the devices embedded system. A ROS-enabled device would then be able to discover other nodes automatically and expose a ROS interface (composed of publisher, services and parameters). The adoption of an industry ...
第三层为ros__parameters,该层名称为固定不可修改的 第四层为具体的参数,接收包括int, double, bool, string等类型 同一namespace的node应放置于同一层相邻。 your_node_namespace:your_node_name_1:ros__parameters:ip:"192.168.0.10"port:12002output:falseyour_node_name...
defgenerate_launch_description():container= ComposableNodeContainer(name='my_container',namespace='',package='rclcpp_components',executable='component_container',composable_node_descriptions=[ComposableNode(package='my_component'...
# 编译colcon build# source环境变量source install/setup.sh# 运行parameters节点ros2 run learning05_param parameters 可以看到 再开一个终端, 这里set了vehicle_speed值为12,可以看到运行的程序中vehicle_speed的值从10 变为了12 4 param常用指令 查看列表参数ros2 param list ...