参数生成监听功能包(generate_parameter_library) 我们在写控制器时候常常需要很多参数,每个参数的声明、设置和获取都需要调用ros2的get_parameter、set_parameter之类的接口。在参数量多的情况下一个个写使得代码有些冗余,并且我们希望参数能够自动更新到变量里面,这时候我们需要介绍generate_parameter_library功能包:generate...
find_package(generate_parameter_library REQUIRED) generate_parameter_library( turtlesim_parameters# cmake target name for the parameter librarysrc/turtlesim_parameters.yaml# path to input yaml file)add_executable(minimal_node src/turtlesim.cpp)target_link_libraries(minimal_nodePRIVATErclcpp::rclcpp turtlesi...
“Not satisfied with the results of using gentler approaches to this problem, generate_parameter_library uses a heavy-handed approach. This package generates a C++ library from a YAML file. A CMake function takes the YAML file input, calls a python executable to generate C++ source files, and...
“Not satisfied with the results of using gentler approaches to this problem, generate_parameter_library uses a heavy-handed approach. This package generates a C++ library from a YAML file. A CMake function takes the YAML file input, calls a python executable to generate C++ source files, and...
ros-humble-generate-parameter-library \ ros-humble-joint-state-publisher \ ros-humble-joint-state-publisher-gui \ ros-humble-moveit \ ros-humble-pinocchio \ ros-humble-realtime-tools \ ros-humble-xacro \ ros-humble-hardware-interface\
ros.org/ros2/ubuntu jammy/main amd64 ros-humble-generate-parameter-library amd64 0.3.0-1jammy.20221202.034649 [7,758 B] Get:8 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-broadcaster amd64 2.15.0-1jammy.20221207.061953 [87.2 kB] Fetched 189 kB in 16s (...
Starting >>> ament_cmake_core Starting >>> rosidl_cli Starting >>> generate_parameter_library_py Starting >>> gtest_vendor Starting >>> launch Starting >>> domain_coordinator Starting >>> google_benchmark_vendor Starting >>> osrf_testing_tools_cpp Finished <<< gtest_vendor [1.07s] Starti...
参数文件(Parameter File):这是用于配置节点的参数的文件,通常以.yaml为扩展名。 服务文件(Service File):这是定义了服务的请求和响应类型的文件,通常以.srv为扩展名。 主题消息文件(Topic Message File):这是定义了主题的消息类型的文件,通常以.msg为扩展名。
exit(gen.generate(PACKAGE,"pibot_bringup","pibot_driver")) 同时还可以新增其他约束以限制参数设置的范围 rcl_interfaces::msg::ParameterDescriptor descriptor;descriptor.description ="";descriptor.name ="name";descriptor.integer_range.resize(1);descriptor.integer_range[...
对于动态参数,大家学过ROS1的话应该都应该有所耳闻吧,ROS1的动态参数的操作还需要dynamic_reconfigure,ROS2中我们直接使用declare_parameter声明参数,可以在rqt-reconfigure中动态配置,之前我们在声明时新增了一个只读的约束。我们这里参考gitee中的代码。 首先和ROS1一样设置cfg文件: ...