{"id":28301,"date":"2025-04-19T23:41:29","date_gmt":"2025-04-19T15:41:29","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/28301.html"},"modified":"2025-04-19T23:41:29","modified_gmt":"2025-04-19T15:41:29","slug":"ros%e5%8f%82%e6%95%b0%e6%9c%8d%e5%8a%a1%e5%99%a8param","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/28301.html","title":{"rendered":"ROS\u53c2\u6570\u670d\u52a1\u5668(Param)"},"content":{"rendered":"<h4>\u3010ROS \u57fa\u7840\u6559\u5b66\u7cfb\u5217\u3011ROS\u53c2\u6570\u670d\u52a1\u5668(Param) \u6559\u5b66<\/h4>\n<p>\u5728ROS&#xff08;Robot Operating System&#xff09;\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u662f\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u7ec4\u4ef6&#xff0c;\u7528\u4e8e\u5b58\u50a8\u5171\u4eab\u914d\u7f6e\u548c\u53c2\u6570\u3002\u53c2\u6570\u670d\u52a1\u5668\u7684\u5b58\u5728\u4f7f\u5f97\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u5404\u4e2a\u8282\u70b9\u80fd\u591f\u65b9\u4fbf\u5730\u83b7\u53d6\u548c\u5171\u4eab\u4fe1\u606f&#xff0c;\u7279\u522b\u9002\u5408\u7528\u6765\u914d\u7f6e\u4e00\u4e9b\u53ef\u80fd\u9700\u8981\u52a8\u6001\u8c03\u6574\u7684\u53c2\u6570&#xff0c;\u4f8b\u5982\u673a\u5668\u4eba\u6a21\u578b\u3001\u4f20\u611f\u5668\u914d\u7f6e\u7b49\u3002<\/p>\n<p>\u672c\u6b21\u6559\u5b66\u6211\u4eec\u5c06\u6df1\u5165\u4e86\u89e3\u4ec0\u4e48\u662fROS\u7684\u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u5982\u4f55\u4f7f\u7528\u5b83\u6765\u5b9e\u73b0\u53c2\u6570\u7ba1\u7406&#xff0c;\u4ee5\u53ca\u5b83\u7684\u5e38\u89c1\u7528\u6cd5\u3002<\/p>\n<h5>\u4e00\u3001\u4ec0\u4e48\u662fROS\u53c2\u6570\u670d\u52a1\u5668&#xff1f;<\/h5>\n<p>ROS\u53c2\u6570\u670d\u52a1\u5668\u662f\u4e00\u4e2a\u96c6\u4e2d\u5b58\u50a8\u7684\u6570\u636e\u5b58\u50a8\u673a\u5236&#xff0c;\u53ef\u4ee5\u7528\u4e8e\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u6240\u6709\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u6570\u636e\u3002\u53c2\u6570\u670d\u52a1\u5668\u662f\u7531ROS master\u7ef4\u62a4\u7684&#xff0c;\u56e0\u6b64\u6240\u6709\u8fd0\u884c\u5728\u540c\u4e00ROS\u7cfb\u7edf\u4e2d\u7684\u8282\u70b9\u90fd\u53ef\u4ee5\u8bfb\u53d6\u6216\u5199\u5165\u53c2\u6570\u670d\u52a1\u5668\u4e0a\u7684\u6570\u636e\u3002\u8fd9\u4e9b\u6570\u636e\u901a\u5e38\u662f\u5168\u5c40\u6027\u7684&#xff0c;\u4f8b\u5982&#xff1a;<\/p>\n<ul>\n<li>\u673a\u5668\u4eba\u7684\u7269\u7406\u5c3a\u5bf8<\/li>\n<li>\u4f20\u611f\u5668\u7684\u6807\u5b9a\u6570\u636e<\/li>\n<li>\u5bfc\u822a\u7b97\u6cd5\u7684\u914d\u7f6e\u53c2\u6570<\/li>\n<\/ul>\n<p>\u8fd9\u4e9b\u6570\u636e\u4e0d\u9002\u5408\u4f5c\u4e3a\u6d88\u606f\u9891\u7e41\u4f20\u8f93&#xff0c;\u800c\u662f\u9002\u5408\u8bbe\u7f6e\u4e00\u6b21\u5e76\u4f9b\u591a\u4e2a\u8282\u70b9\u5171\u4eab\u4f7f\u7528\u3002<\/p>\n<h5>\u4e8c\u3001\u53c2\u6570\u670d\u52a1\u5668\u7684\u57fa\u672c\u64cd\u4f5c<\/h5>\n<p>ROS\u63d0\u4f9b\u4e86\u591a\u79cd\u65b9\u5f0f\u6765\u4e0e\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u4ea4\u4e92&#xff0c;\u5305\u62ec\u547d\u4ee4\u884c\u5de5\u5177rosparam\u3001ROS API\u3001C&#043;&#043;\u548cPython\u7b49\u8bed\u8a00\u7684\u63a5\u53e3\u3002\u4e0b\u9762\u6211\u4eec\u6765\u9010\u4e00\u4ecb\u7ecd\u8fd9\u4e9b\u64cd\u4f5c\u3002<\/p>\n<h6>1. \u4f7f\u7528 rosparam \u547d\u4ee4\u884c\u5de5\u5177<\/h6>\n<p>rosparam\u662fROS\u63d0\u4f9b\u7684\u547d\u4ee4\u884c\u5de5\u5177&#xff0c;\u53ef\u4ee5\u65b9\u4fbf\u5730\u4e0e\u53c2\u6570\u670d\u52a1\u5668\u4ea4\u4e92&#xff0c;\u7528\u4e8e\u8bbe\u7f6e\u3001\u83b7\u53d6\u548c\u5220\u9664\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u67e5\u770b\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam get \/parameter_name<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam get \/robot_name\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam <span class=\"token builtin class-name\">set<\/span> \/parameter_name value<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam <span class=\"token builtin class-name\">set<\/span> \/robot_speed <span class=\"token number\">1.0<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam delete \/parameter_name<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam delete \/robot_name\n <\/li>\n<li>\n<p>\u67e5\u770b\u6240\u6709\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam list\n <\/li>\n<\/ul>\n<h6>2. \u5728Python\u4e2d\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668<\/h6>\n<p>\u5728Python\u4e2d\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u975e\u5e38\u7b80\u5355&#xff0c;rospy\u6a21\u5757\u63d0\u4f9b\u4e86\u5bf9\u53c2\u6570\u670d\u52a1\u5668\u7684\u64cd\u4f5c\u63a5\u53e3\u3002<\/p>\n<ul>\n<li>\n<p>\u83b7\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token keyword\">import<\/span> rospy<\/p>\n<p>param_value <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/parameter_name&#039;<\/span><span class=\"token punctuation\">,<\/span> default_value<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> robot_name <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_name&#039;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#039;default_robot&#039;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot name: &#034;<\/span><span class=\"token punctuation\">,<\/span> robot_name<span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_speed&#039;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.5<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u68c0\u67e5\u53c2\u6570\u662f\u5426\u5b58\u5728&#xff1a;<\/p>\n<p> exists <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>has_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_name&#039;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">if<\/span> exists<span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name exists&#034;<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> rospy<span class=\"token punctuation\">.<\/span>delete_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/parameter_name&#039;<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<\/ul>\n<h6>3. \u5728C&#043;&#043;\u4e2d\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668<\/h6>\n<p>\u5728C&#043;&#043;\u4e2d\u53ef\u4ee5\u901a\u8fc7ros::param\u547d\u540d\u7a7a\u95f4\u6765\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u3002<\/p>\n<ul>\n<li>\n<p>\u83b7\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;ros\/ros.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> argc<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>argv<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    ros<span class=\"token operator\">::<\/span><span class=\"token function\">init<\/span><span class=\"token punctuation\">(<\/span>argc<span class=\"token punctuation\">,<\/span> argv<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;example_param_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">double<\/span> robot_speed<span class=\"token punctuation\">;<\/span><br \/>\n    nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_speed&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot Speed: %f&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_speed&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>\n <\/li>\n<li>\n<p>\u68c0\u67e5\u53c2\u6570\u662f\u5426\u5b58\u5728&#xff1a;<\/p>\n<p> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">hasParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Parameter \/robot_name exists&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">deleteParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>\n <\/li>\n<\/ul>\n<h5>\u4e09\u3001\u53c2\u6570\u670d\u52a1\u5668\u7684\u4f7f\u7528\u573a\u666f<\/h5>\n<p>ROS\u53c2\u6570\u670d\u52a1\u5668\u9002\u5408\u5b58\u50a8\u4e00\u4e9b\u4e0d\u7ecf\u5e38\u53d8\u5316\u7684\u5168\u5c40\u914d\u7f6e&#xff0c;\u8fd9\u4e9b\u53c2\u6570\u53ef\u4ee5\u5728ROS\u7cfb\u7edf\u542f\u52a8\u7684\u65f6\u5019\u52a0\u8f7d\u5e76\u7528\u4e8e\u591a\u4e2a\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u3002\u8fd9\u4e9b\u53c2\u6570\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u673a\u5668\u4eba\u7684\u7269\u7406\u7279\u6027&#xff1a;\u5982\u8f6e\u5b50\u534a\u5f84\u3001\u57fa\u5ea7\u5bbd\u5ea6\u7b49\u53c2\u6570&#xff0c;\u8fd9\u4e9b\u901a\u5e38\u5728\u786c\u4ef6\u5b89\u88c5\u65f6\u786e\u5b9a\u3002<\/li>\n<li>\u4f20\u611f\u5668\u914d\u7f6e&#xff1a;\u4f20\u611f\u5668\u7684\u6807\u5b9a\u53c2\u6570&#xff0c;\u5982\u6fc0\u5149\u96f7\u8fbe\u7684\u5b89\u88c5\u4f4d\u7f6e\u3001\u6444\u50cf\u5934\u7684\u5185\u53c2\u548c\u5916\u53c2\u7b49\u3002<\/li>\n<li>\u7b97\u6cd5\u7684\u8d85\u53c2\u6570&#xff1a;\u5bfc\u822a\u3001\u8def\u5f84\u89c4\u5212\u7b49\u7b97\u6cd5\u9700\u8981\u4e00\u4e9b\u8d85\u53c2\u6570\u6765\u63a7\u5236\u884c\u4e3a&#xff0c;\u4f8b\u5982PID\u63a7\u5236\u5668\u7684\u589e\u76ca\u503c\u7b49\u3002<\/li>\n<\/ul>\n<h5>\u56db\u3001\u5982\u4f55\u52a0\u8f7d\u53c2\u6570<\/h5>\n<p>\u5728\u542f\u52a8ROS\u7cfb\u7edf\u65f6&#xff0c;\u6211\u4eec\u901a\u5e38\u9700\u8981\u52a0\u8f7d\u4e00\u4e9b\u53c2\u6570\u5230\u53c2\u6570\u670d\u52a1\u5668\u4e2d&#xff0c;\u8fd9\u53ef\u4ee5\u901a\u8fc7roslaunch\u6587\u4ef6\u6765\u5b9e\u73b0\u3002\u4f8b\u5982&#xff0c;\u53ef\u4ee5\u5728launch\u6587\u4ef6\u4e2d\u4f7f\u7528&lt;param&gt;\u6807\u7b7e\u76f4\u63a5\u8bbe\u7f6e\u53c2\u6570&#xff0c;\u6216\u8005\u4f7f\u7528&lt;rosparam&gt;\u4eceYAML\u6587\u4ef6\u52a0\u8f7d\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u76f4\u63a5\u5728launch\u6587\u4ef6\u4e2d\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n  <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>robot_speed<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>1.0<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\n <\/li>\n<li>\n<p>\u4eceYAML\u6587\u4ef6\u52a0\u8f7d\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n  <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>rosparam<\/span> <span class=\"token attr-name\">file<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(find your_package)\/config\/robot_params.yaml<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">command<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>load<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u5176\u4e2drobot_params.yaml\u662f\u4e00\u4e2aYAML\u683c\u5f0f\u7684\u6587\u4ef6&#xff0c;\u901a\u5e38\u7528\u4e8e\u96c6\u4e2d\u7ba1\u7406\u591a\u4e2a\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token key atrule\">robot_name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;my_robot&#034;<\/span><br \/>\n<span class=\"token key atrule\">robot_speed<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">1.0<\/span><br \/>\n<span class=\"token key atrule\">sensor_range<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">15.0<\/span>\n <\/li>\n<\/ul>\n<h5>\u4e94\u3001\u603b\u7ed3<\/h5>\n<p>ROS\u53c2\u6570\u670d\u52a1\u5668\u662fROS\u7cfb\u7edf\u4e2d\u4e00\u4e2a\u5f3a\u5927\u7684\u5de5\u5177&#xff0c;\u5141\u8bb8\u5404\u4e2a\u8282\u70b9\u5171\u4eab\u548c\u7ba1\u7406\u5168\u5c40\u53c2\u6570\u3002\u65e0\u8bba\u662f\u5728\u5f00\u53d1\u9636\u6bb5\u8fd8\u662f\u8fd0\u884c\u9636\u6bb5&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u90fd\u63d0\u4f9b\u4e86\u6781\u5927\u7684\u4fbf\u5229&#xff0c;\u4f7f\u5f97\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u8c03\u8bd5\u548c\u914d\u7f6e\u53d8\u5f97\u66f4\u52a0\u9ad8\u6548\u3002\u5728ROS\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u662f\u6784\u5efa\u7075\u6d3b\u3001\u53ef\u91cd\u7528\u7684\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002<\/p>\n<p>\u901a\u8fc7\u4e86\u89e3\u5982\u4f55\u5728\u547d\u4ee4\u884c\u3001Python\u548cC&#043;&#043;\u4e2d\u64cd\u4f5c\u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u5e76\u5b66\u4f1a\u5982\u4f55\u4f7f\u7528roslaunch\u52a0\u8f7d\u914d\u7f6e&#xff0c;\u5f00\u53d1\u8005\u53ef\u4ee5\u66f4\u597d\u5730\u5229\u7528\u53c2\u6570\u670d\u52a1\u5668\u6765\u7ba1\u7406\u6574\u4e2a\u7cfb\u7edf\u4e2d\u7684\u5171\u4eab\u4fe1\u606f\u3002### \u3010ROS \u57fa\u7840\u6559\u5b66\u7cfb\u5217\u3011ROS\u53c2\u6570\u670d\u52a1\u5668(Param) \u6559\u5b66<\/p>\n<p>\u5728ROS&#xff08;Robot Operating System&#xff09;\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u662f\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u7ec4\u4ef6&#xff0c;\u7528\u4e8e\u5b58\u50a8\u5171\u4eab\u914d\u7f6e\u548c\u53c2\u6570\u3002\u53c2\u6570\u670d\u52a1\u5668\u7684\u5b58\u5728\u4f7f\u5f97\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u5404\u4e2a\u8282\u70b9\u80fd\u591f\u65b9\u4fbf\u5730\u83b7\u53d6\u548c\u5171\u4eab\u4fe1\u606f&#xff0c;\u7279\u522b\u9002\u5408\u7528\u6765\u914d\u7f6e\u4e00\u4e9b\u53ef\u80fd\u9700\u8981\u52a8\u6001\u8c03\u6574\u7684\u53c2\u6570&#xff0c;\u4f8b\u5982\u673a\u5668\u4eba\u6a21\u578b\u3001\u4f20\u611f\u5668\u914d\u7f6e\u7b49\u3002<\/p>\n<p>\u672c\u6b21\u6559\u5b66\u6211\u4eec\u5c06\u6df1\u5165\u4e86\u89e3\u4ec0\u4e48\u662fROS\u7684\u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u5982\u4f55\u4f7f\u7528\u5b83\u6765\u5b9e\u73b0\u53c2\u6570\u7ba1\u7406&#xff0c;\u4ee5\u53ca\u5b83\u7684\u5e38\u89c1\u7528\u6cd5\u3002<\/p>\n<h5>\u4e00\u3001\u4ec0\u4e48\u662fROS\u53c2\u6570\u670d\u52a1\u5668&#xff1f;<\/h5>\n<p>ROS\u53c2\u6570\u670d\u52a1\u5668\u662f\u4e00\u4e2a\u96c6\u4e2d\u5b58\u50a8\u7684\u6570\u636e\u5b58\u50a8\u673a\u5236&#xff0c;\u53ef\u4ee5\u7528\u4e8e\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u6240\u6709\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u6570\u636e\u3002\u53c2\u6570\u670d\u52a1\u5668\u662f\u7531ROS master\u7ef4\u62a4\u7684&#xff0c;\u56e0\u6b64\u6240\u6709\u8fd0\u884c\u5728\u540c\u4e00ROS\u7cfb\u7edf\u4e2d\u7684\u8282\u70b9\u90fd\u53ef\u4ee5\u8bfb\u53d6\u6216\u5199\u5165\u53c2\u6570\u670d\u52a1\u5668\u4e0a\u7684\u6570\u636e\u3002\u8fd9\u4e9b\u6570\u636e\u901a\u5e38\u662f\u5168\u5c40\u6027\u7684&#xff0c;\u4f8b\u5982&#xff1a;<\/p>\n<ul>\n<li>\u673a\u5668\u4eba\u7684\u7269\u7406\u5c3a\u5bf8<\/li>\n<li>\u4f20\u611f\u5668\u7684\u6807\u5b9a\u6570\u636e<\/li>\n<li>\u5bfc\u822a\u7b97\u6cd5\u7684\u914d\u7f6e\u53c2\u6570<\/li>\n<\/ul>\n<p>\u8fd9\u4e9b\u6570\u636e\u4e0d\u9002\u5408\u4f5c\u4e3a\u6d88\u606f\u9891\u7e41\u4f20\u8f93&#xff0c;\u800c\u662f\u9002\u5408\u8bbe\u7f6e\u4e00\u6b21\u5e76\u4f9b\u591a\u4e2a\u8282\u70b9\u5171\u4eab\u4f7f\u7528\u3002<\/p>\n<h5>\u4e8c\u3001\u53c2\u6570\u670d\u52a1\u5668\u7684\u57fa\u672c\u64cd\u4f5c<\/h5>\n<p>ROS\u63d0\u4f9b\u4e86\u591a\u79cd\u65b9\u5f0f\u6765\u4e0e\u53c2\u6570\u670d\u52a1\u5668\u8fdb\u884c\u4ea4\u4e92&#xff0c;\u5305\u62ec\u547d\u4ee4\u884c\u5de5\u5177rosparam\u3001ROS API\u3001C&#043;&#043;\u548cPython\u7b49\u8bed\u8a00\u7684\u63a5\u53e3\u3002\u4e0b\u9762\u6211\u4eec\u6765\u9010\u4e00\u4ecb\u7ecd\u8fd9\u4e9b\u64cd\u4f5c\u3002<\/p>\n<h6>1. \u4f7f\u7528 rosparam \u547d\u4ee4\u884c\u5de5\u5177<\/h6>\n<p>rosparam\u662fROS\u63d0\u4f9b\u7684\u547d\u4ee4\u884c\u5de5\u5177&#xff0c;\u53ef\u4ee5\u65b9\u4fbf\u5730\u4e0e\u53c2\u6570\u670d\u52a1\u5668\u4ea4\u4e92&#xff0c;\u7528\u4e8e\u8bbe\u7f6e\u3001\u83b7\u53d6\u548c\u5220\u9664\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u67e5\u770b\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam get \/parameter_name<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam get \/robot_name\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam <span class=\"token builtin class-name\">set<\/span> \/parameter_name value<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam <span class=\"token builtin class-name\">set<\/span> \/robot_speed <span class=\"token number\">1.0<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam delete \/parameter_name<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> rosparam delete \/robot_name\n <\/li>\n<li>\n<p>\u67e5\u770b\u6240\u6709\u53c2\u6570&#xff1a;<\/p>\n<p> rosparam list\n <\/li>\n<\/ul>\n<h6>2. \u5728Python\u4e2d\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668<\/h6>\n<p>\u5728Python\u4e2d\u4f7f\u7528ROS\u53c2\u6570\u670d\u52a1\u5668\u975e\u5e38\u7b80\u5355&#xff0c;rospy\u6a21\u5757\u63d0\u4f9b\u4e86\u5bf9\u53c2\u6570\u670d\u52a1\u5668\u7684\u64cd\u4f5c\u63a5\u53e3\u3002<\/p>\n<ul>\n<li>\n<p>\u83b7\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token keyword\">import<\/span> rospy<\/p>\n<p>param_value <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/parameter_name&#039;<\/span><span class=\"token punctuation\">,<\/span> default_value<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p> robot_name <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_name&#039;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#039;default_robot&#039;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot name: &#034;<\/span><span class=\"token punctuation\">,<\/span> robot_name<span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_speed&#039;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.5<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u68c0\u67e5\u53c2\u6570\u662f\u5426\u5b58\u5728&#xff1a;<\/p>\n<p> exists <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>has_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/robot_name&#039;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">if<\/span> exists<span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name exists&#034;<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> rospy<span class=\"token punctuation\">.<\/span>delete_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;\/parameter_name&#039;<\/span><span class=\"token punctuation\">)<\/span>\n <\/li>\n<\/ul>\n<h6>3. \u5728C&#043;&#043;\u4e2d\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668<\/h6>\n<p>\u5728C&#043;&#043;\u4e2d\u53ef\u4ee5\u901a\u8fc7ros::param\u547d\u540d\u7a7a\u95f4\u6765\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u3002<\/p>\n<ul>\n<li>\n<p>\u83b7\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;ros\/ros.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> argc<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>argv<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    ros<span class=\"token operator\">::<\/span><span class=\"token function\">init<\/span><span class=\"token punctuation\">(<\/span>argc<span class=\"token punctuation\">,<\/span> argv<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;example_param_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">double<\/span> robot_speed<span class=\"token punctuation\">;<\/span><br \/>\n    nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_speed&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot Speed: %f&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>\n <\/li>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_speed&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>\n <\/li>\n<li>\n<p>\u68c0\u67e5\u53c2\u6570\u662f\u5426\u5b58\u5728&#xff1a;<\/p>\n<p> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">hasParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Parameter \/robot_name exists&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>\n <\/li>\n<li>\n<p>\u5220\u9664\u53c2\u6570&#xff1a;<\/p>\n<p> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">deleteParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>\n <\/li>\n<\/ul>\n<h5>\u4e09\u3001\u53c2\u6570\u670d\u52a1\u5668\u7684\u4f7f\u7528\u573a\u666f<\/h5>\n<p>ROS\u53c2\u6570\u670d\u52a1\u5668\u9002\u5408\u5b58\u50a8\u4e00\u4e9b\u4e0d\u7ecf\u5e38\u53d8\u5316\u7684\u5168\u5c40\u914d\u7f6e&#xff0c;\u8fd9\u4e9b\u53c2\u6570\u53ef\u4ee5\u5728ROS\u7cfb\u7edf\u542f\u52a8\u7684\u65f6\u5019\u52a0\u8f7d\u5e76\u7528\u4e8e\u591a\u4e2a\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u3002\u8fd9\u4e9b\u53c2\u6570\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u673a\u5668\u4eba\u7684\u7269\u7406\u7279\u6027&#xff1a;\u5982\u8f6e\u5b50\u534a\u5f84\u3001\u57fa\u5ea7\u5bbd\u5ea6\u7b49\u53c2\u6570&#xff0c;\u8fd9\u4e9b\u901a\u5e38\u5728\u786c\u4ef6\u5b89\u88c5\u65f6\u786e\u5b9a\u3002<\/li>\n<li>\u4f20\u611f\u5668\u914d\u7f6e&#xff1a;\u4f20\u611f\u5668\u7684\u6807\u5b9a\u53c2\u6570&#xff0c;\u5982\u6fc0\u5149\u96f7\u8fbe\u7684\u5b89\u88c5\u4f4d\u7f6e\u3001\u6444\u50cf\u5934\u7684\u5185\u53c2\u548c\u5916\u53c2\u7b49\u3002<\/li>\n<li>\u7b97\u6cd5\u7684\u8d85\u53c2\u6570&#xff1a;\u5bfc\u822a\u3001\u8def\u5f84\u89c4\u5212\u7b49\u7b97\u6cd5\u9700\u8981\u4e00\u4e9b\u8d85\u53c2\u6570\u6765\u63a7\u5236\u884c\u4e3a&#xff0c;\u4f8b\u5982PID\u63a7\u5236\u5668\u7684\u589e\u76ca\u503c\u7b49\u3002<\/li>\n<\/ul>\n<h5>\u56db\u3001\u5982\u4f55\u52a0\u8f7d\u53c2\u6570<\/h5>\n<p>\u5728\u542f\u52a8ROS\u7cfb\u7edf\u65f6&#xff0c;\u6211\u4eec\u901a\u5e38\u9700\u8981\u52a0\u8f7d\u4e00\u4e9b\u53c2\u6570\u5230\u53c2\u6570\u670d\u52a1\u5668\u4e2d&#xff0c;\u8fd9\u53ef\u4ee5\u901a\u8fc7roslaunch\u6587\u4ef6\u6765\u5b9e\u73b0\u3002\u4f8b\u5982&#xff0c;\u53ef\u4ee5\u5728launch\u6587\u4ef6\u4e2d\u4f7f\u7528&lt;param&gt;\u6807\u7b7e\u76f4\u63a5\u8bbe\u7f6e\u53c2\u6570&#xff0c;\u6216\u8005\u4f7f\u7528&lt;rosparam&gt;\u4eceYAML\u6587\u4ef6\u52a0\u8f7d\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u76f4\u63a5\u5728launch\u6587\u4ef6\u4e2d\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n  <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>robot_speed<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>1.0<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\n <\/li>\n<li>\n<p>\u4eceYAML\u6587\u4ef6\u52a0\u8f7d\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n  <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>rosparam<\/span> <span class=\"token attr-name\">file<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(find your_package)\/config\/robot_params.yaml<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">command<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>load<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u5176\u4e2drobot_params.yaml\u662f\u4e00\u4e2aYAML\u683c\u5f0f\u7684\u6587\u4ef6&#xff0c;\u901a\u5e38\u7528\u4e8e\u96c6\u4e2d\u7ba1\u7406\u591a\u4e2a\u53c2\u6570&#xff1a;<\/p>\n<p> <span class=\"token key atrule\">robot_name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;my_robot&#034;<\/span><br \/>\n<span class=\"token key atrule\">robot_speed<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">1.0<\/span><br \/>\n<span class=\"token key atrule\">sensor_range<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">15.0<\/span>\n 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