{"id":26663,"date":"2025-04-19T16:31:04","date_gmt":"2025-04-19T08:31:04","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/26663.html"},"modified":"2025-04-19T16:31:04","modified_gmt":"2025-04-19T08:31:04","slug":"%ef%bc%88%e4%ba%94%ef%bc%89ros%e9%80%9a%e4%bf%a1%e7%bc%96%e7%a8%8b-%e5%8f%82%e6%95%b0%e6%9c%8d%e5%8a%a1%e5%99%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/26663.html","title":{"rendered":"\uff08\u4e94\uff09ROS\u901a\u4fe1\u7f16\u7a0b\u2014\u2014\u53c2\u6570\u670d\u52a1\u5668"},"content":{"rendered":"

\u524d\u8a00<\/h2>\n

\u53c2\u6570\u670d\u52a1\u5668\u5728ROS\u4e2d\u4e3b\u8981\u7528\u4e8e\u5b9e\u73b0\u4e0d\u540c\u8282\u70b9\u4e4b\u95f4\u7684\u6570\u636e\u5171\u4eab（P2P）\u3002\u53c2\u6570\u670d\u52a1\u5668\u76f8\u5f53\u4e8e\u662f\u72ec\u7acb\u4e8e\u6240\u6709\u8282\u70b9\u7684\u4e00\u4e2a\u516c\u5171\u5bb9\u5668，\u53ef\u4ee5\u5c06\u6570\u636e\u5b58\u50a8\u5728\u8be5\u5bb9\u5668\u4e2d，\u88ab\u4e0d\u540c\u7684\u8282\u70b9\u8c03\u7528，\u5f53\u7136\u4e0d\u540c\u7684\u8282\u70b9\u4e5f\u53ef\u4ee5\u5f80\u5176\u4e2d\u5b58\u50a8\u6570\u636e，\u5173\u4e8e\u53c2\u6570\u670d\u52a1\u5668\u7684\u5178\u578b\u5e94\u7528\u573a\u666f\u5982\u4e0b:\u5bfc\u822a\u5b9e\u73b0\u65f6，\u4f1a\u8fdb\u884c\u8def\u5f84\u89c4\u5212，\u6bd4\u5982: \u5168\u5c40\u8def\u5f84\u89c4\u5212，\u8bbe\u8ba1\u4e00\u4e2a\u4ece\u51fa\u53d1\u70b9\u5230\u76ee\u6807\u70b9\u7684\u5927\u81f4\u8def\u5f84\u3002\u672c\u5730\u8def\u5f84\u89c4\u5212，\u4f1a\u6839\u636e\u5f53\u524d\u8def\u51b5\u751f\u6210\u65f6\u65f6\u7684\u884c\u8fdb\u8def\u5f84\u3002\u4e0a\u8ff0\u573a\u666f\u4e2d，\u5168\u5c40\u8def\u5f84\u89c4\u5212\u548c\u672c\u5730\u8def\u5f84\u89c4\u5212\u65f6，\u5c31\u4f1a\u4f7f\u7528\u5230\u53c2\u6570\u670d\u52a1\u5668：\u8def\u5f84\u89c4\u5212\u65f6，\u9700\u8981\u53c2\u8003\u5c0f\u8f66\u7684\u5c3a\u5bf8，\u6211\u4eec\u53ef\u4ee5\u5c06\u8fd9\u4e9b\u5c3a\u5bf8\u4fe1\u606f\u5b58\u50a8\u5230\u53c2\u6570\u670d\u52a1\u5668，\u5168\u5c40\u8def\u5f84\u89c4\u5212\u8282\u70b9\u4e0e\u672c\u5730\u8def\u5f84\u89c4\u5212\u8282\u70b9\u90fd\u53ef\u4ee5\u4ece\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u8c03\u7528\u8fd9\u4e9b\u53c2\u6570(\u6709\u4e9b\u8def\u5f84\u9650\u5bbd\u9650\u9ad8)\u3002\u53c2\u6570\u670d\u52a1\u5668，\u4e00\u822c\u9002\u7528\u4e8e\u5b58\u5728\u6570\u636e\u5171\u4eab\u7684\u4e00\u4e9b\u5e94\u7528\u573a\u666f\u3002\u6211\u4eec\u5c06\u5c0f\u8f66\u5c3a\u5bf8\u653e\u5230\u4e00\u4e2a\u53c2\u6570\u670d\u52a1\u5668\u4e2d，\u8fd9\u6837\u5404\u4e2a\u8282\u70b9\u4f7f\u7528\u5c0f\u8f66\u5c3a\u5bf8\u5224\u65ad\u662f\u5426\u80fd\u901a\u884c\u76f4\u63a5\u4ece\u53c2\u6570\u670d\u52a1\u5668\u91cc\u53d6\u5c31\u884c<\/p>\n

\u52a8\u4f5c\u7f16\u7a0b\u901a\u4fe1：\u6570\u636e\u5171\u4eab\u6a21\u5f0f<\/h2>\n

1.\u53c2\u6570\u670d\u52a1\u5668\u7684\u7406\u8bba\u6a21\u578b<\/h3>\n

\"\"<\/p>\n

1.\u6f14\u5458\u5217\u8868<\/h4>\n

ROS\u7ba1\u7406\u8005（\u5176\u4e2d\u6709\u4e00\u4e2a\u7ba1\u7406\u53c2\u6570\u7684\u516c\u5171\u5bb9\u5668）\u3001\u53c2\u6570\u7684\u8bbe\u7f6e\u65b9\u3001\u53c2\u6570\u7684\u8c03\u7528\u65b9<\/p>\n

2.\u6d41\u7a0b<\/h4>\n

1.\u53c2\u6570\u7684\u8bbe\u7f6e\u65b9\u63d0\u4ea4\u53c2\u6570\u5230\u7ba1\u7406\u8005，\u7ba1\u7406\u8005\u5c06\u53c2\u6570\u4fdd\u5b58\u81f3\u4e00\u4e2a\u53c2\u6570\u5217\u8868<\/p>\n

2.\u53c2\u6570\u7684\u8c03\u7528\u8005\u5411\u7ba1\u7406\u8005\u53d1\u9001\u4e00\u4e2a\u53c2\u6570\u8c03\u7528\u8bf7\u6c42<\/p>\n

3.\u7ba1\u7406\u8005\u5230\u53c2\u6570\u5217\u8868\u4e2d\u67e5\u627e\u76f8\u5173\u53c2\u6570，\u5c06\u53c2\u6570\u503c\u8fd4\u56de\u7ed9\u8c03\u7528\u8005<\/p>\n

3.\u6ce8\u610f<\/h4>\n

\u53c2\u6570\u670d\u52a1\u5668\u4e0d\u662f\u4e3a\u9ad8\u6027\u80fd\u800c\u8bbe\u8ba1\u7684，\u56e0\u6b64\u6700\u597d\u7528\u4e8e\u5b58\u50a8\u9759\u6001\u7684\u975e\u4e8c\u8fdb\u5236\u7684\u7b80\u5355\u6570\u636e\u3002<\/p>\n

\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u4f7f\u7528\u7684\u6570\u636e\u7c7b\u578b：32-bit integers\u3001booleans\u3001strings\u3001doubles\u3001iso8601 dates\u3001lists\u3001base64-encoded binary data\u3001\u5b57\u5178\u3002<\/p>\n

2.\u53c2\u6570\u670d\u52a1\u5668\u7684\u5b9e\u73b0（c++）<\/h3>\n

1.\u521b\u5efa\u4e00\u4e2a\u53c2\u6570\u7684\u5b9e\u4f8b<\/h4>\n

\u5728\u5de5\u4f5c\u7a7a\u95f4\u4e0b\u7684\u6e90\u7801\u7a7a\u95f4src\u4e2d\u5efa\u7acb\u529f\u80fd\u5305 plumbing_param_server，\u5e76\u5efa\u7acb\u4f9d\u8d56\u5305 roscpp\u3001rospy，std_msgs.\u5b9a\u4f4d\u5230\u65b0\u5efa\u529f\u80fd\u5305\u4e0b\u7684src\u6587\u4ef6，\u65b0\u5efa\u6587\u4ef6 demo_param_set.cpp<\/p>\n

1.\u53c2\u6570\u65b0\u589e<\/h5>\n

#include "ros\/ros.h"<\/p>\n

\/*
\n\u9700\u8981\u5b9e\u73b0\u53c2\u6570\u7684\u65b0\u589e\u548c\u4fee\u6539
\n1.\u9700\u6c42：\u9996\u5148\u8bbe\u7f6e\u673a\u5668\u4eba\u7684\u5171\u4eab\u53c2\u6570，\u7c7b\u578b\u3001\u534a\u5f84\u3001\u518d\u4fee\u6539\u534a\u5f84
\n2.\u901a\u8fc7\u4e24\u5957api\u5b9e\u73b0 ros::NodeHandle setParam ros::param set
\n*\/<\/p>\n

int main(int argc, char *argv[])
\n{
\n ros::init(argc,argv,"setpara_c");
\n ros::NodeHandle nh;<\/p>\n

\/\/\u53c2\u6570\u589e\u52a0
\n \/\/\u65b9\u68481：\u53c2\u6570\u540d\u5b57，\u53c2\u6570\u503c
\n nh.setParam("type","xiaoHuang");
\n nh.setParam("radius",0.15);<\/p>\n

\/\/\u65b9\u68482：\u53c2\u6570\u540d\u5b57，\u53c2\u6570\u503c
\n ros::param::set("type_param","xiaobai");
\n ros::param::set("radius_param",0.1);
\n return 0;
\n} <\/p>\n

2.\u53c2\u6570\u4fee\u6539<\/h5>\n

\u76f4\u63a5\u5728\u539f\u6709\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\u4fee\u6539<\/p>\n

\/\/\u4fee\u6539 \u65b9\u6848\u4e00:\u53c2\u6570\u8986\u76d6
\n nh.setParam("radius",0.2);<\/p>\n

\/\/\u4fee\u6539 \u65b9\u6848\u4e8c
\n ros::param::set("radius_param",0.25);
\n#include "ros\/ros.h"<\/p>\n

\/*
\n\u9700\u8981\u5b9e\u73b0\u53c2\u6570\u7684\u65b0\u589e\u548c\u4fee\u6539
\n1.\u9700\u6c42：\u9996\u5148\u8bbe\u7f6e\u673a\u5668\u4eba\u7684\u5171\u4eab\u53c2\u6570，\u7c7b\u578b\u3001\u534a\u5f84\u3001\u518d\u4fee\u6539\u534a\u5f84
\n2.\u901a\u8fc7\u4e24\u5957api\u5b9e\u73b0 ros::NodeHandle setParam ros::param set
\n*\/<\/p>\n

int main(int argc, char *argv[])
\n{
\n ros::init(argc,argv,"setpara_c");
\n ros::NodeHandle nh;<\/p>\n

\/\/\u53c2\u6570\u589e\u52a0
\n \/\/\u65b9\u68481：\u53c2\u6570\u540d\u5b57，\u53c2\u6570\u503c
\n nh.setParam("type","xiaoHuang");
\n nh.setParam("radius",0.2);<\/p>\n

\/\/\u65b9\u68482：\u53c2\u6570\u540d\u5b57，\u53c2\u6570\u503c
\n ros::param::set("type_param","xiaobai");
\n ros::param::set("radius_param",0.25);
\n return 0;
\n} <\/p>\n

\u00a03.\u53c2\u6570\u83b7\u53d6<\/h5>\n

\u5728\u529f\u80fd\u5305\u7684\u6e90\u7801\u7a7a\u95f4src\u4e0b\u521b\u5efa\u6587\u4ef6demo_param_get.cpp<\/p>\n

#include "ros\/ros.h"<\/p>\n

\/*
\n\u6f14\u793a\u53c2\u6570\u67e5\u8be2
\n*\/<\/p>\n

int main(int argc, char *argv[])
\n{
\n setlocale(LC_ALL,"");
\n ros::init(argc,argv,"get_param_c");
\n ros::NodeHandle nh;<\/p>\n

\/\/ros::NodeHandle—————————————-
\n \/\/1.param(\u952e，\u9ed8\u8ba4\u503c) \u5b58\u5728，\u8fd4\u56de\u5bf9\u5e94\u7ed3\u679c，\u5426\u5219\u8fd4\u56de\u9ed8\u8ba4\u503c(0.5)
\n double radius = nh.param("radius",0.5);
\n ROS_INFO("radius = %.2f",radius);<\/p>\n

\/\/2.getParam(\u952e，\u5b58\u50a8\u7ed3\u679c\u7684\u53d8\u91cf)：\u952e\u5b58\u5728\u8fd4\u56de\u503c\u662ftrue，\u5e76\u4e14\u5c06\u503c\u8d4b\u7ed9\u53c2\u65702\u3002\u4e0d\u5b58\u5728\u4e3afalse，\u4e0d\u4e3a\u53c2\u6570\u4e8c\u8d4b\u503c
\n double radius2;
\n bool result = nh.getParam("radius",radius2);
\n if(result)
\n {
\n ROS_INFO("\u83b7\u53d6\u7684\u534a\u5f84\u662f radius = %.2f",radius2);
\n }
\n else
\n {
\n ROS_INFO("\u88ab\u67e5\u8be2\u7684\u53d8\u91cf\u4e0d\u5b58\u5728");
\n }<\/p>\n

\/\/3.getParamCached(\u952e，\u5b58\u50a8\u7ed3\u679c\u7684\u53d8\u91cf) –\u4ece\u7f13\u5b58\u83b7\u53d6，\u6548\u7387\u66f4\u9ad8，\u7ed3\u679c\u4e0e3\u4e00\u6837\u7684<\/p>\n

\/\/4.getParamNames(std::vector<std::string>) \u83b7\u53d6\u6240\u6709\u7684\u952e\u540d\u79f0，\u5e76\u5b58\u50a8\u5728\u53c2\u6570 vector \u4e2d
\n std::vector<std::string> names;
\n nh.getParamNames(names);
\n for(auto && name:names)
\n {
\n ROS_INFO("\u904d\u5386\u5230\u7684\u5143\u7d20：%s",name.c_str());
\n }<\/p>\n

\/\/5.hasParam(\u952e) \u662f\u5426\u5305\u542b\u67d0\u4e2a\u952e \u662f\u8fd4\u56detrue \u5426\u5219\u8fd4\u56defalse
\n bool flag1 = nh.hasParam("radius");
\n bool flag2 = nh.hasParam("sjsjsjs");
\n ROS_INFO("\u53c2\u6570\u4e00\u5b58\u5728\u5417？%d",flag1);
\n ROS_INFO("\u53c2\u6570\u4e8c\u5b58\u5728\u5417？%d",flag2);<\/p>\n

\/\/6.searchParam(\u53c2\u6570\u4e00，\u53c2\u6570\u4e8c) \u53c2\u6570\u4e00\u662f\u641c\u7d22\u7684\u952e，\u53c2\u6570\u4e8c\u5b58\u50a8\u952e\u7684\u540d\u79f0
\n std::string key ;
\n nh.searchParam("radius",key);
\n ROS_INFO("\u641c\u7d22\u7ed3\u679c%s",key.c_str());
\n return 0;
\n} <\/p>\n

\u4e00\u4e9b\u4fee\u6539\u7684API\u6a21\u677f<\/p>\n

\/*
\n \u53c2\u6570\u670d\u52a1\u5668\u64cd\u4f5c\u4e4b\u67e5\u8be2_C++\u5b9e\u73b0:
\n \u5728 roscpp \u4e2d\u63d0\u4f9b\u4e86\u4e24\u5957 API \u5b9e\u73b0\u53c2\u6570\u64cd\u4f5c
\n ros::NodeHandle
\n param(\u952e,\u9ed8\u8ba4\u503c)
\n \u5b58\u5728，\u8fd4\u56de\u5bf9\u5e94\u7ed3\u679c，\u5426\u5219\u8fd4\u56de\u9ed8\u8ba4\u503c
\n getParam(\u952e,\u5b58\u50a8\u7ed3\u679c\u7684\u53d8\u91cf)
\n \u5b58\u5728,\u8fd4\u56de true,\u4e14\u5c06\u503c\u8d4b\u503c\u7ed9\u53c2\u65702
\n \u82e5\u679c\u952e\u4e0d\u5b58\u5728，\u90a3\u4e48\u8fd4\u56de\u503c\u4e3a false，\u4e14\u4e0d\u4e3a\u53c2\u65702\u8d4b\u503c
\n getParamCached\u952e,\u5b58\u50a8\u7ed3\u679c\u7684\u53d8\u91cf)–\u63d0\u9ad8\u53d8\u91cf\u83b7\u53d6\u6548\u7387
\n \u5b58\u5728,\u8fd4\u56de true,\u4e14\u5c06\u503c\u8d4b\u503c\u7ed9\u53c2\u65702
\n \u82e5\u679c\u952e\u4e0d\u5b58\u5728，\u90a3\u4e48\u8fd4\u56de\u503c\u4e3a false，\u4e14\u4e0d\u4e3a\u53c2\u65702\u8d4b\u503c
\n getParamNames(std::vector<std::string>)
\n \u83b7\u53d6\u6240\u6709\u7684\u952e,\u5e76\u5b58\u50a8\u5728\u53c2\u6570 vector \u4e2d
\n hasParam(\u952e)
\n \u662f\u5426\u5305\u542b\u67d0\u4e2a\u952e，\u5b58\u5728\u8fd4\u56de true，\u5426\u5219\u8fd4\u56de false
\n searchParam(\u53c2\u65701，\u53c2\u65702)
\n \u641c\u7d22\u952e，\u53c2\u65701\u662f\u88ab\u641c\u7d22\u7684\u952e，\u53c2\u65702\u5b58\u50a8\u641c\u7d22\u7ed3\u679c\u7684\u53d8\u91cf
\n ros::param —– \u4e0e NodeHandle \u7c7b\u4f3c
\n*\/ <\/p>\n

4.\u53c2\u6570\u5220\u9664<\/h5>\n

\u5728\u529f\u80fd\u5305\u7684\u6e90\u7801\u7a7a\u95f4src\u4e0b\u521b\u5efa\u6587\u4ef6demo_param_delete.cpp<\/p>\n

#include "ros\/ros.h"
\n\/*
\n\u4ecd\u7136\u4e24\u79cd\u65b9\u5f0f\u5b9e\u73b0
\n*\/<\/p>\n

int main(int argc, char *argv[])
\n{
\n setlocale(LC_ALL,"");
\n ros::init(argc,argv,"param_del");
\n ros::NodeHandle nh;<\/p>\n

\/\/\u5220\u9664\u4e00
\n bool flag1 = nh.deleteParam("radius");
\n if(flag1)
\n {
\n ROS_INFO("success");
\n }
\n else{
\n ROS_INFO("Failed");
\n }
\n \/\/\u5220\u9664\u4e8c
\n bool flag2 = ros::param::del("radius_param");
\n if(flag2)
\n {
\n ROS_INFO("success");
\n }
\n else{
\n ROS_INFO("Failed");
\n }
\n return 0;
\n} <\/p>\n

2.\u4fee\u6539CmakeLists.txt\u914d\u7f6e\u6587\u4ef6<\/h4>\n

3.\u7f16\u8bd1catkin_make<\/h4>\n

4.\u8fd0\u884c\u53ef\u6267\u884c\u6587\u4ef6<\/h4>\n

\u522b\u5fd8\u4e86source<\/p>\n

5.\u68c0\u9a8c<\/h4>\n

rosparam list\u547d\u4ee4：\u5217\u51fa\u6240\u6709\u53c2\u6570\u5217\u8868<\/p>\n

\u7ed3\u675f\u8bed<\/h2>\n

\u4ee5\u4e0a\u5c31\u662f\u6211\u5b66\u4e60\u5230\u7684\u5185\u5bb9，\u5982\u679c\u5bf9\u60a8\u6709\u5e2e\u52a9\u8bf7\u591a\u591a\u652f\u6301\u6211，\u5982\u679c\u54ea\u91cc\u6709\u95ee\u9898\u6b22\u8fce\u5927\u5bb6\u5728\u8bc4\u8bba\u533a\u79ef\u6781\u8ba8\u8bba，\u6211\u770b\u5230\u4f1a\u53ca\u65f6\u56de\u590d\u3002<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"

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