{"id":28959,"date":"2025-04-20T04:36:01","date_gmt":"2025-04-19T20:36:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/28959.html"},"modified":"2025-04-20T04:36:01","modified_gmt":"2025-04-19T20:36:01","slug":"%e3%80%90ros-%e5%9f%ba%e7%a1%80%e6%95%99%e5%ad%a6%e7%b3%bb%e5%88%97%e3%80%91ros%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\/28959.html","title":{"rendered":"\u3010ROS \u57fa\u7840\u6559\u5b66\u7cfb\u5217\u3011ROS\u53c2\u6570\u670d\u52a1\u5668(Param)"},"content":{"rendered":"<h2>ROS \u57fa\u7840\u6559\u5b66\u7cfb\u5217-ROS\u53c2\u6570\u670d\u52a1\u5668(Param)<\/h2>\n<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>ROS \u57fa\u7840\u6559\u5b66\u7cfb\u5217-ROS\u53c2\u6570\u670d\u52a1\u5668(Param)<\/li>\n<li>\u524d\u8a00<\/li>\n<li>\u4e00\u3001\u53c2\u6570\u670d\u52a1\u5668\u901a\u8baf\u6a21\u578b<\/li>\n<li>\u4e8c\u3001Param Hello World<\/li>\n<li>\n<ul>\n<li>2.1 \u521b\u5efa\u5e76\u521d\u59cb\u5316\u529f\u80fd\u5305<\/li>\n<li>2.2 \u64cd\u4f5c\u53c2\u6570&#xff08;C&#043;&#043;\u7248&#xff09;<\/li>\n<li>2.3 \u5176\u4ed6\u64cd\u4f5c\u53c2\u6570\u7684\u51fd\u6570<\/li>\n<li>2.4 \u64cd\u4f5c\u53c2\u6570&#xff08;Python\u7248&#xff09;<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h2>\u524d\u8a00<\/h2>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u5728ROS\u4e2d\u4e3b\u8981\u7528\u4e8e\u5b9e\u73b0\u4e0d\u540c\u8282\u70b9\u4e4b\u95f4\u7684\u6570\u636e\u5171\u4eab\u3002<\/p>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u76f8\u5f53\u4e8e\u662f\u72ec\u7acb\u4e8e\u6240\u6709\u8282\u70b9\u7684\u4e00\u4e2a\u516c\u5171\u5bb9\u5668&#xff0c;\u53ef\u4ee5\u5c06\u6570\u636e\u5b58\u50a8\u5728\u8be5\u5bb9\u5668\u4e2d&#xff0c;\u88ab\u4e0d\u540c\u7684\u8282\u70b9\u8c03\u7528&#xff0c;\u5f53\u7136\u4e0d\u540c\u7684\u8282\u70b9\u4e5f\u53ef\u4ee5\u5f80\u5176\u4e2d\u5b58\u50a8\u6570\u636e\u3002<\/p>\n<p>\u4f7f\u7528\u573a\u666f\u4e00\u822c\u5b58\u50a8\u4e00\u4e9b\u673a\u5668\u4eba\u7684\u56fa\u6709\u53c2\u6570&#xff0c;\u5982\u4ea7\u54c1\u5b9a\u4e49\u3001\u5168\u5c40\u914d\u7f6e\u7b49\u3002<\/p>\n<p>\u4e3b\u8981\u601d\u60f3\u5c31\u662f\u4e00\u4e2a\u5171\u4eab\u6570\u636e\u57df&#xff0c;\u4f9b\u4e0d\u540c\u8282\u70b9\u4f7f\u7528\u3002<\/p>\n<hr \/>\n<h2>\u4e00\u3001\u53c2\u6570\u670d\u52a1\u5668\u901a\u8baf\u6a21\u578b<\/h2>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u6a21\u578b\u6d89\u53ca\u5230\u4e09\u4e2a\u89d2\u8272&#xff1a;<\/p>\n<ul>\n<li>Master (\u7ba1\u7406\u8005)<\/li>\n<li>Setter&#xff08;\u8bbe\u7f6e\u8005&#xff09;<\/li>\n<li>User&#xff08;\u4f7f\u7528\u8005&#xff09;<\/li>\n<\/ul>\n<p>Master \u8d1f\u8d23\u7ba1\u7406\u53c2\u6570\u4e0e Setter\/User \u7684\u64cd\u4f5c&#xff0c;Setter \u53ef\u4ee5\u5411 Master \u8bbe\u7f6e\u53c2\u6570&#xff0c;User \u53ef\u4ee5\u4ece Master \u83b7\u53d6\u53c2\u6570\u3002<\/p>\n<p>\u8fd9\u91cc\u53ea\u662f\u65b9\u4fbf\u8bf4\u660e&#xff0c;\u5b9e\u9645\u4e0a\u901a\u8baf\u65b9\u64cd\u4f5c\u53c2\u6570\u524d\u4e0d\u4f1a\u5411 ROS Master \u6ce8\u518c\u8eab\u4efd\u4fe1\u606f&#xff0c;\u6240\u4ee5\u5bf9 ROS Master \u800c\u8a00&#xff0c;\u6ca1\u6709 Setter \u4e0e User \u4e4b\u5206&#xff0c;\u6bcf\u4e2a\u8bbf\u95ee\u53c2\u6570\u670d\u52a1\u5668\u7684\u901a\u8baf\u65b9\u90fd\u662f\u4f7f\u7528\u8005\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250419203559-6804092f16937.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u901a\u8baf\u6d41\u7a0b&#xff1a;<\/p>\n<p>1&#xff09;Setter\u8bbe\u7f6e\u53c2\u6570 \u200b Setter \u901a\u8fc7 RPC \u5411\u53c2\u6570\u670d\u52a1\u5668\u8bbe\u7f6e\u53c2\u6570(\u5305\u62ec\u53c2\u6570\u540d\u4e0e\u53c2\u6570\u503c)&#xff0c;ROS Master \u5c06\u53c2\u6570\u4fdd\u5b58\u5230\u53c2\u6570\u5217\u8868\u4e2d\u3002<\/p>\n<p>2&#xff09;User\u83b7\u53d6\u53c2\u6570 \u200b User \u901a\u8fc7 RPC \u5411\u53c2\u6570\u670d\u52a1\u5668\u53d1\u9001\u53c2\u6570\u67e5\u627e\u8bf7\u6c42&#xff0c;\u8bf7\u6c42\u4e2d\u5305\u542b\u8981\u67e5\u627e\u7684\u53c2\u6570\u540d\u3002<\/p>\n<p>3&#xff09;ROS Master\u8fd4\u56de\u53c2\u6570\u4fe1\u606f \u200b ROS Master \u6839\u636e\u8bf7\u6c42\u63d0\u4f9b\u7684\u53c2\u6570\u540d\u67e5\u627e\u53c2\u6570\u503c&#xff0c;\u5e76\u5c06\u67e5\u8be2\u7ed3\u679c\u901a\u8fc7 RPC \u53d1\u9001\u7ed9 User\u3002<\/p>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u4f7f\u7528 XMLRPC \u6570\u636e\u683c\u5f0f\u5b58\u50a8\u53c2\u6570&#xff0c;\u652f\u6301\u7684\u6570\u636e\u7c7b\u578b\u5982\u4e0b&#xff1a;<\/p>\n<ul>\n<li>32-bit integers<\/li>\n<li>booleans<\/li>\n<li>strings<\/li>\n<li>doubles<\/li>\n<li>iso8601 dates<\/li>\n<li>lists<\/li>\n<li>base64-encoded binary data<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e8c\u3001Param Hello World<\/h2>\n<p>\u4ee3\u7801\u5b66\u4e60\u5f00\u59cb\u4e8e Hello World&#xff0c;\u540c\u6837&#xff0c;\u4f7f\u7528Hello World\u4ecb\u7ecd\u53c2\u6570\u670d\u52a1\u5668\u7684\u7b80\u5355\u4f7f\u7528\u3002<\/p>\n<p>\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u901a\u8baf\u65b9\u64cd\u4f5c\u53c2\u6570\u524d\u6ca1\u6709\u5411 ROS Master \u6ce8\u518c\u8eab\u4efd\u4fe1\u606f&#xff0c;\u76f4\u63a5\u5bf9\u53c2\u6570\u8fdb\u884c\u64cd\u4f5c\u3002<\/p>\n<p>\u63a5\u4e0b\u6765\u5b9e\u73b0\u4e00\u4e2a\u7b80\u5355\u7684\u53c2\u6570\u64cd\u4f5c&#xff0c;\u8bbe\u7f6e\u4e0d\u540c\u6570\u636e\u7c7b\u578b\u7684\u53c2\u6570&#xff0c;\u5982\u673a\u5668\u4eba\u7684 \u540d\u5b57(name)\u3001\u957f(length)\u3001\u5bbd(width)\u3001\u9ad8(height) \u7b49&#xff0c;\u5e76\u5bf9\u5176\u8fdb\u884c\u8bfb\u53d6\u5220\u9664\u7b49\u64cd\u4f5c\u3002<\/p>\n<h3>2.1 \u521b\u5efa\u5e76\u521d\u59cb\u5316\u529f\u80fd\u5305<\/h3>\n<p>&#xff08;\u8fd9\u4e00\u6b65\u4e0d\u662f\u5fc5\u987b&#xff0c;\u8fd9\u91cc\u53ea\u662f\u4e3a\u4e86\u65b9\u4fbf\u6e05\u6670\u7684\u8bf4\u660e&#xff0c;\u4e5f\u53ef\u4ee5\u4f7f\u7528\u5df2\u6709\u7684\u5305&#xff0c;\u5728\u5305\u91cc\u65b0\u589e\u8282\u70b9\u7b49\u65b9\u6cd5&#xff09;<\/p>\n<p>\u9996\u5148\u521b\u5efa param_hello_world \u5305&#xff0c;\u547d\u4ee4\u5982\u4e0b&#xff1a;<\/p>\n<p>catkin_create_pkg param_hello_world roscpp rospy<\/p>\n<p>\u521b\u5efa\u540e&#xff0c;\u6587\u4ef6\u7ed3\u6784\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250419203559-6804092f5260d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.2 \u64cd\u4f5c\u53c2\u6570&#xff08;C&#043;&#043;\u7248&#xff09;<\/h3>\n<p>ROS \u4e3a C&#043;&#043; \u63d0\u4f9b\u4e86\u4e24\u5957 API&#xff0c;\u5982\u4e0b&#xff1a;<\/p>\n<p>\u901a\u8fc7 ros::NodeHandle \u5bf9\u8c61\u8c03\u7528 \u901a\u8fc7 ros::param \u540d\u7a7a\u95f4\u8c03\u7528 \u793a\u4f8b\u5982\u4e0b&#xff1a;<\/p>\n<p>\u5728\u521b\u5efa\u7684 param_hello_world \u5305\u8def\u5f84\u4e0b\u6709\u4e00\u4e2a src \u76ee\u5f55&#xff0c;\u5728\u8fd9\u91cc\u5b58\u50a8C&#043;&#043;\u6e90\u7801&#xff0c;\u6211\u4eec\u521b\u5efa param_hello_world_set.cpp \u548c param_hello_world_get.cpp &#xff0c;\u4fee\u6539 CMakeLists.txt &#xff0c;\u6dfb\u52a0\u5982\u4e0b\u5185\u5bb9&#xff1a;<\/p>\n<p>add_executable<span class=\"token punctuation\">(<\/span>$<span class=\"token punctuation\">{<\/span>PROJECT_NAME<span class=\"token punctuation\">}<\/span>_set src<span class=\"token operator\">\/<\/span>param_hello_world_set<span class=\"token punctuation\">.<\/span>cpp<span class=\"token punctuation\">)<\/span><br \/>\nadd_executable<span class=\"token punctuation\">(<\/span>$<span class=\"token punctuation\">{<\/span>PROJECT_NAME<span class=\"token punctuation\">}<\/span>_get src<span class=\"token operator\">\/<\/span>param_hello_world_get<span class=\"token punctuation\">.<\/span>cpp<span class=\"token punctuation\">)<\/span><\/p>\n<p>target_link_libraries<span class=\"token punctuation\">(<\/span>$<span class=\"token punctuation\">{<\/span>PROJECT_NAME<span class=\"token punctuation\">}<\/span>_set<br \/>\n  $<span class=\"token punctuation\">{<\/span>catkin_LIBRARIES<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><\/p>\n<p>target_link_libraries<span class=\"token punctuation\">(<\/span>$<span class=\"token punctuation\">{<\/span>PROJECT_NAME<span class=\"token punctuation\">}<\/span>_get<br \/>\n  $<span class=\"token punctuation\">{<\/span>catkin_LIBRARIES<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u7f16\u8f91 param_hello_world_set.cpp \u5185\u5bb9\u5982\u4e0b&#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><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">setlocale<\/span><span class=\"token punctuation\">(<\/span>LC_ALL<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;&#034;<\/span><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;param_hello_world_set&#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>    std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n              <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;********** ros::NodeHandle **********&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;vbot&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string geometry <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;rectangle&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">int<\/span> wheel_num <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">bool<\/span> vision <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">true<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">double<\/span><span class=\"token operator\">&gt;<\/span> base_size <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0.7<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.3<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>map<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> sensor_id <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u8bbe\u7f6e\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;vbot&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry&#034;<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, string<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ double<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ int<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">,<\/span> vision<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ bool<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ vector<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ map<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u9a8c\u8bc1\u662f\u5426\u8bbe\u7f6e\u6210\u529f<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get geometry&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_radius&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_num&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get base_size&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get sensor_id&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n              <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;********** ros::param **********&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;vbot&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string geometry <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;rectangle&#034;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">int<\/span> wheel_num <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">bool<\/span> vision <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">true<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">double<\/span><span class=\"token operator\">&gt;<\/span> base_size <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0.7<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.3<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>map<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> sensor_id <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u8bbe\u7f6e\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;vbot&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry_p&#034;<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, string<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius_p&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ double<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num_p&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ int<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision_p&#034;<\/span><span class=\"token punctuation\">,<\/span> vision<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ bool<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size_p&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ vector<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id_p&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ map<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u9a8c\u8bc1\u662f\u5426\u8bbe\u7f6e\u6210\u529f<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get name_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get geometry_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_radius_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_num_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get vision_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get base_size_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get sensor_id_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <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><\/p>\n<p>\u7f16\u8bd1\u8fd0\u884c&#xff0c;\u7ed3\u679c\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250419203559-6804092f72e81.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/>\u7f16\u8f91 param_hello_world_get.cpp \u5185\u5bb9\u5982\u4e0b&#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><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">setlocale<\/span><span class=\"token punctuation\">(<\/span>LC_ALL<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;&#034;<\/span><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;param_hello_world_get&#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>    std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n              <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;********** ros::NodeHandle **********&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u4fee\u6539\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u4fee\u6539\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;mybot&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;circular&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.15<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ double<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ int<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ bool<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">double<\/span><span class=\"token operator\">&gt;<\/span> base_size <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0.2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.04<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">setParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ vector<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>map<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> sensor_id <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        sensor_id<span class=\"token punctuation\">.<\/span><span class=\"token function\">insert<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;ultrasonic&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ map<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u83b7\u53d6\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u83b7\u53d6\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string name<span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string geometry<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">int<\/span> wheel_num<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">bool<\/span> vision<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;name&#034;<\/span><span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><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;geometry&#034;<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">)<\/span><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;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">)<\/span><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;wheel_num&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">)<\/span><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;vision&#034;<\/span><span class=\"token punctuation\">,<\/span> vision<span class=\"token punctuation\">)<\/span><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;base_size&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><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;sensor_id&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<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;ros::NodeHandle getParam, name: %s, geometry: %s, wheel_radius: %lf, wheel: %d, vision: %s, base_size: (%lf, %lf)&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 name<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">,<\/span> vision <span class=\"token operator\">?<\/span> <span class=\"token string\">&#034;true&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;false&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span> sensor <span class=\"token operator\">:<\/span> sensor_id<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;ros::NodeHandle getParam, %s_id: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor<span class=\"token punctuation\">.<\/span>first<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> sensor<span class=\"token punctuation\">.<\/span>second<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5220\u9664\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u5220\u9664\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">deleteParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5176\u4ed6\u64cd\u4f5c\u51fd\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u5176\u4ed6\u64cd\u4f5c\u51fd\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius1<span class=\"token punctuation\">;<\/span><br \/>\n        wheel_radius1 <span class=\"token operator\">&#061;<\/span> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">param<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<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;param, wheel_radius: %lf&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParamCached<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token operator\">&gt;<\/span> keys_v<span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParamNames<\/span><span class=\"token punctuation\">(<\/span>keys_v<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span> key <span class=\"token operator\">:<\/span> keys_v<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;getParamNames, key: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> key<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/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;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;hasParam, \u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token keyword\">else<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;hasParam, \u4e0d\u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        std<span class=\"token operator\">::<\/span>string result<span class=\"token punctuation\">;<\/span><br \/>\n        nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">searchParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> result<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;searchParam, result: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> result<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n              <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;********** ros::param **********&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u4fee\u6539\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u4fee\u6539\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;mybot&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;circular&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5b57\u7b26\u4e32, char*<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.15<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ double<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ int<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision_p&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ bool<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">double<\/span><span class=\"token operator\">&gt;<\/span> base_size <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0.2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.04<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size_p&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ vector<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>map<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> sensor_id <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        sensor_id<span class=\"token punctuation\">.<\/span><span class=\"token function\">insert<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;ultrasonic&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id_p&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ map<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u83b7\u53d6\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u83b7\u53d6\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string name<span class=\"token punctuation\">;<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>string geometry<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">int<\/span> wheel_num<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">bool<\/span> vision<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name_p&#034;<\/span><span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry_p&#034;<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius_p&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num_p&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision_p&#034;<\/span><span class=\"token punctuation\">,<\/span> vision<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size_p&#034;<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">get<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id_p&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor_id<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;ros::param get, name: %s, geometry: %s, wheel_radius: %lf, wheel: %d, vision: %s, base_size: (%lf, %lf)&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 name<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">,<\/span> vision <span class=\"token operator\">?<\/span> <span class=\"token string\">&#034;true&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;false&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                 base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span> sensor <span class=\"token operator\">:<\/span> sensor_id<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;ros::param getParam, %s_id: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> sensor<span class=\"token punctuation\">.<\/span>first<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> sensor<span class=\"token punctuation\">.<\/span>second<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5220\u9664\u53c2\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u5220\u9664\u53c2\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">del<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">system<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get vision_p&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5176\u4ed6\u64cd\u4f5c\u51fd\u6570<\/span><br \/>\n        std<span class=\"token operator\">::<\/span>cout <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<br \/>\n                  <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token string\">&#034;&#8211; \u5176\u4ed6\u64cd\u4f5c\u51fd\u6570 &#8211;&#034;<\/span> <span class=\"token operator\">&lt;&lt;<\/span> std<span class=\"token operator\">::<\/span>endl<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> wheel_radius1<span class=\"token punctuation\">;<\/span><br \/>\n        wheel_radius1 <span class=\"token operator\">&#061;<\/span> ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">param<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<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;param, wheel_radius: %lf&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">getCached<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token operator\">&gt;<\/span> keys_v<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">getParamNames<\/span><span class=\"token punctuation\">(<\/span>keys_v<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span> key <span class=\"token operator\">:<\/span> keys_v<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;getParamNames, key: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> key<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">has<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;has, \u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token keyword\">else<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;has, \u4e0d\u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        std<span class=\"token operator\">::<\/span>string result<span class=\"token punctuation\">;<\/span><br \/>\n        ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">search<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> result<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;search, result: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> result<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <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><\/p>\n<p>\u7f16\u8bd1\u8fd0\u884c&#xff0c;\u7ed3\u679c\u5982\u4e0b&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250419203559-6804092f9dce1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.3 \u5176\u4ed6\u64cd\u4f5c\u53c2\u6570\u7684\u51fd\u6570<\/h3>\n<p>\u9664\u4e86\u4e0a\u6587\u63d0\u5230\u7684setParam()\u3001getParam()\u3001deleteParam() \u51fd\u6570&#xff0c;\u8fd8\u6709\u4e00\u4e9b\u5176\u4ed6\u7684\u53c2\u6570\u64cd\u4f5c\u51fd\u6570&#xff0c;\u5982\u4e0b&#xff1a;<\/p>\n<p>\u8fd9\u91cc\u53ea\u4ee5\u901a\u8fc7 ros::NodeHandle \u5bf9\u8c61\u8c03\u7528\u4e3a\u4f8b&#xff0c;\u901a\u8fc7 ros::param \u540d\u7a7a\u95f4\u8c03\u7528\u7c7b\u4f3c&#xff0c;\u53ea\u591a\u4e86\u4e00\u4e2a unsubscribeCachedParam\u51fd\u6570&#xff0c;\u540e\u9762\u8bf4\u660e<\/p>\n<p>1.param \u83b7\u53d6 param_name \u7684\u503c&#xff0c;\u5982\u679c param_name \u4e0d\u5b58\u5728&#xff0c;\u5219\u8fd4\u56de default_val<\/p>\n<p>\u539f\u578b&#xff1a; T param(const std::string&amp; param_name, const T&amp; default_val) const<\/p>\n<p><span class=\"token keyword\">double<\/span> wheel_radius2<span class=\"token punctuation\">;<\/span><br \/>\nwheel_radius2 <span class=\"token operator\">&#061;<\/span> nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">param<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius2<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;param, wheel_radius: %lf&#034;<\/span><span class=\"token punctuation\">,<\/span> wheel_radius2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>2.getParamCached() \u4e0egetParam()\u4f7f\u7528\u65b9\u6cd5\u4e00\u6837\u3002<\/p>\n<p>\u9996\u6b21\u8c03\u7528\u4f1a\u5224\u65ad\u8be5\u53c2\u6570\u662f\u5426\u83b7\u53d6\u8fc7&#xff0c;\u5982\u679c\u83b7\u53d6\u8fc7\u5219\u4ece\u7f13\u5b58\u8bfb\u53d6&#xff0c;\u5e76\u5411 Master \u8ba2\u9605\u8be5\u53c2\u6570\u7684\u53d8\u5316&#xff0c;\u4e0d\u518d\u50cfgetParam()\u4e00\u6837\u901a\u8fc7 RPC \u5411 Master\u83b7\u53d6&#xff0c;\u4ee5\u63d0\u9ad8\u6548\u7387\u3002<\/p>\n<p>\u793a\u4f8b\u53c2\u8003 getParam()\u3002<\/p>\n<p>3.getParamNames() \u83b7\u53d6\u6240\u6709\u8bbe\u7f6e\u5230 Master \u7684\u53c2\u6570\u7684\u952e&#xff0c;\u5e76\u901a\u8fc7 vector \u8fd4\u56de\u3002<\/p>\n<p>\u539f\u578b&#xff1a;bool getParamNames(std::vectorstd::string&amp; keys) const;<\/p>\n<p>std<span class=\"token operator\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token operator\">&gt;<\/span> keys_v<span class=\"token punctuation\">;<\/span><br \/>\nnh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParamNames<\/span><span class=\"token punctuation\">(<\/span>keys_v<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">auto<\/span> key <span class=\"token operator\">:<\/span> keys_v<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;getParamNames, key: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> key<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>4.hasParam() \u5224\u65ad\u662f\u5426\u5b58\u5728\u8be5\u53c2\u6570<\/p>\n<p>\u539f\u578b&#xff1a;bool hasParam(const std::string&amp; key) const;<\/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;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u4e0d\u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>5.searchParam()<\/p>\n<p>\u641c\u7d22\u7ed9\u5b9a\u53c2\u6570\u540d&#xff0c;\u5982\u679c\u5b58\u5728&#xff0c;\u8fd4\u56de\u952e\u540d&#xff0c;\u4e0d\u5b58\u5728\u8fd4\u56de\u7a7a\u5b57\u7b26\u4e32\u3002<\/p>\n<p>\u539f\u578b&#xff1a;bool searchParam(const std::string&amp; key, std::string&amp; result) const;<\/p>\n<p>std<span class=\"token operator\">::<\/span>string result<span class=\"token punctuation\">;<\/span><br \/>\nnh<span class=\"token punctuation\">.<\/span><span class=\"token function\">searchParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> result<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;searchParam, result: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> result<span class=\"token punctuation\">.<\/span><span class=\"token function\">c_str<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h3>2.4 \u64cd\u4f5c\u53c2\u6570&#xff08;Python\u7248&#xff09;<\/h3>\n<p>\u4e0e C&#043;&#043; \u4e0d\u540c&#xff0c;ROS \u53ea\u4e3a Python \u63d0\u4f9b\u4e86\u4e00\u5957\u64cd\u4f5c\u53c2\u6570\u7684 API\u3002<\/p>\n<p>\u5728\u521b\u5efa\u7684 param_hello_world \u5305\u8def\u5f84\u4e0b src \u76ee\u5f55\u7684\u540c\u7ea7&#xff0c;\u521b\u5efa\u4e00\u4e2a scripts \u76ee\u5f55&#xff0c;\u5728\u8fd9\u91cc\u5b58\u50a8\u811a\u672c&#xff08;\u5982python\u811a\u672c&#xff09;&#xff0c;\u4fee\u6539 CMakeLists.txt &#xff0c;\u6dfb\u52a0\u5982\u4e0b\u5185\u5bb9&#xff1a;<\/p>\n<p><span class=\"token function\">catkin_install_python<\/span><span class=\"token punctuation\">(<\/span>PROGRAMS<br \/>\n  scripts<span class=\"token operator\">\/<\/span>param_hello_world_set<span class=\"token punctuation\">.<\/span>py<br \/>\n  scripts<span class=\"token operator\">\/<\/span>param_hello_world_get<span class=\"token punctuation\">.<\/span>py<br \/>\n  DESTINATION $<span class=\"token punctuation\">{<\/span>CATKIN_PACKAGE_BIN_DESTINATION<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5728 scripts \u4e2d\u521b\u5efa param_hello_world_set.py \u7f16\u8f91\u5185\u5bb9\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> rospy<br \/>\n<span class=\"token keyword\">import<\/span> os<\/p>\n<p><span class=\"token keyword\">if<\/span> __name__ <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;__main__&#034;<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>init_node<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;param_hello_world_set&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u8bbe\u7f6e\u53c2\u6570<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;vbot&#034;<\/span><span class=\"token punctuation\">)<\/span>                         <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;rectangle&#034;<\/span><span class=\"token punctuation\">)<\/span>                <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">)<\/span>                    <span class=\"token comment\"># double<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span>                         <span class=\"token comment\"># int<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token boolean\">True<\/span><span class=\"token punctuation\">)<\/span>                         <span class=\"token comment\"># bool<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.7<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span>           <span class=\"token comment\"># list<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token comment\"># dictionary<\/span><\/p>\n<p>    <span class=\"token comment\"># \u9a8c\u8bc1\u662f\u5426\u8bbe\u7f6e\u6210\u529f<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get name&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get geometry&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_radius&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get wheel_num&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get vision&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get base_size&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    os<span class=\"token punctuation\">.<\/span>system<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;rosparam get sensor_id&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5728 scripts \u4e2d\u521b\u5efa param_hello_world_get.py \u7f16\u8f91\u5185\u5bb9\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> rospy<\/p>\n<p><span class=\"token keyword\">if<\/span> __name__ <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;__main__&#034;<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>init_node<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;param_hello_world_get&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u4fee\u6539\u53c2\u6570<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;mybot&#034;<\/span><span class=\"token punctuation\">)<\/span>             <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;circular&#034;<\/span><span class=\"token punctuation\">)<\/span>      <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.15<\/span><span class=\"token punctuation\">)<\/span>        <span class=\"token comment\"># double<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span>              <span class=\"token comment\"># int<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token boolean\">False<\/span><span class=\"token punctuation\">)<\/span>             <span class=\"token comment\"># bool<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.04<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span>    <span class=\"token comment\"># list<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>set_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;laser&#034;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;ultrasonic&#034;<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token comment\"># dictionary<\/span><\/p>\n<p>    <span class=\"token comment\"># \u83b7\u53d6\u53c2\u6570<\/span><br \/>\n    name <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">)<\/span>                    <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    geometry <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;geometry&#034;<\/span><span class=\"token punctuation\">)<\/span>            <span class=\"token comment\"># \u5b57\u7b26\u4e32, string<\/span><br \/>\n    wheel_radius <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">)<\/span>    <span class=\"token comment\"># double<\/span><br \/>\n    wheel_num <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_num&#034;<\/span><span class=\"token punctuation\">)<\/span>          <span class=\"token comment\"># int<\/span><br \/>\n    vision <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">)<\/span>                <span class=\"token comment\"># bool<\/span><br \/>\n    base_size <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;base_size&#034;<\/span><span class=\"token punctuation\">)<\/span>          <span class=\"token comment\"># list<\/span><br \/>\n    sensor_id <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_id&#034;<\/span><span class=\"token punctuation\">)<\/span>          <span class=\"token comment\"># dictionary<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;get_param, name: {}, geometry: {}, wheel_radius: {}, wheel: {}, vision: {}, base_size: ({}, {})&#034;<\/span><br \/>\n                  <span class=\"token punctuation\">.<\/span><span class=\"token builtin\">format<\/span><span class=\"token punctuation\">(<\/span>name<span class=\"token punctuation\">,<\/span> geometry<span class=\"token punctuation\">,<\/span> wheel_radius<span class=\"token punctuation\">,<\/span> wheel_num<span class=\"token punctuation\">,<\/span> vision<span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> base_size<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> key<span class=\"token punctuation\">,<\/span> value <span class=\"token keyword\">in<\/span> sensor_id<span class=\"token punctuation\">.<\/span>items<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;get_param, sensor: {}, id: {}&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token builtin\">format<\/span><span class=\"token punctuation\">(<\/span>key<span class=\"token punctuation\">,<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u5220\u9664\u53c2\u6570<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>delete_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u5176\u4ed6\u64cd\u4f5c<\/span><br \/>\n    wheel_radius1 <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param_cached<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;wheel_radius&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    keys <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>get_param_names<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> key <span class=\"token keyword\">in<\/span> keys<span class=\"token punctuation\">:<\/span><br \/>\n        rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;get_param_names, key: {}&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token builtin\">format<\/span><span class=\"token punctuation\">(<\/span>key<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> rospy<span class=\"token punctuation\">.<\/span>has_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;vision&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;has_param, \u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">else<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;has_param, \u4e0d\u5b58\u5728\u8be5\u53c2\u6570&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    result <span class=\"token operator\">&#061;<\/span> rospy<span class=\"token punctuation\">.<\/span>search_param<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    rospy<span class=\"token punctuation\">.<\/span>loginfo<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;search_param, result: {}&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token builtin\">format<\/span><span class=\"token punctuation\">(<\/span>result<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u7f16\u8bd1\u6267\u884c\u7ed3\u679c\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250419203559-6804092fd0950.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" 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