. install/setup.bash ros2 run python_parameters param_talker 1. 2. 效果: [INFO] [parameter_node]: Hello world! 1. 列出所有参数 ros2 param list 1. 终端下更改参数值 ros2 param set /minimal_param_node my_parameter earth 1. 通过launch文件来修改参数值 在dev_ws/src/python_parameters/launch...
("an_int_param",cb);}private:std::shared_ptr<rclcpp::ParameterEventHandler>param_subscriber_;std::shared_ptr<rclcpp::ParameterCallbackHandle>cb_handle_;};intmain(intargc,char**argv){rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<SampleNodeWithParameters>());rclcpp::shutdown();...
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function 在另一个终端中,让我们运行发布者节点(不要忘记获取安装脚本的源代码): ros2 run examples_rclcpp_minimal_publisher publisher_member_function 您应该会看到来自发布者和订阅者的消息,其中数字递增。 创建您自己的程序包 colcon使用该软件包。
costmap_filter_info_server: ros__parameters: use_sim_time: true type: 1 filter_info_topic: "/costmap_filter_info" mask_topic: "/speed_filter_mask" base: 100.0 multiplier: -1.0 filter_mask_server: ros__parameters: use_sim_time: true frame_id: "map" topic_name: "/speed_filter_mask" ...
// parameters being passed // So we just put a generic placeholder // into the binder // (since we know we need ONE parameter) sub1_opt); // This is where we set the callback group. // This subscription will run with callback group subscriber1 ...
parameters=[ {'robot_description': robot_desc}, {'use_sim_time': False}], output = 'screen' ) cartographer_node = Node( package = 'cartographer_ros', executable = 'cartographer_node', parameters = [{'use_sim_time': False}],
ros2 run turtlesim turtlesim_node --ros-args --params-file turtlesim.yaml 插入知识点:About parameters in ROS 2 Parameter是用于设置节点而不改变其代码的参量 Parameter由节点名称、节点名称空 间、参数名称和参数名称空间(可选)寻址。 (王博:先别看这个了) ...
/gazebo/describe_parameters [rcl_interfaces/srv/DescribeParameters] /gazebo/get_parameter_types [rcl_interfaces/srv/GetParameterTypes] /gazebo/get_parameters [rcl_interfaces/srv/GetParameters] /gazebo/list_parameters [rcl_interfaces/srv/ListParameters] ...
parameters = [ {'device':'/dev/ttyUSB0'}, {'baudrate':'921600'} ], extra_arguments = [{'use_intra_process_comms':True}] ) ], output ='both', ) 2.4 卸载组件(ros2 component unload) 使用唯一标识符从容器中卸载组件; ros2 component unload /ComponentManager 1 2 ...
learning_launch'),'launch'),'/parameters_nonamespace.launch.py']) ) parameter_yaml_with_namespace = GroupAction( # 对指定launch文件中启动的功能加上命名空间 actions=[ PushRosNamespace('turtlesim2'), parameter_yaml] ) return ...