{"id":38305,"date":"2025-05-20T08:01:01","date_gmt":"2025-05-20T00:01:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/38305.html"},"modified":"2025-05-20T08:01:01","modified_gmt":"2025-05-20T00:01:01","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%bf%90%e5%8a%a8%e5%ad%a6%e4%bb%bf%e7%9c%9f%e8%bd%af%e4%bb%b6%ef%bc%9aros-robot-operating-system_%ef%bc%885%ef%bc%89-ros%e5%8f%82%e6%95%b0%e6%9c%8d%e5%8a%a1%e5%99%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/38305.html","title":{"rendered":"\u673a\u5668\u4eba\u8fd0\u52a8\u5b66\u4eff\u771f\u8f6f\u4ef6\uff1aROS (Robot Operating System)_\uff085\uff09.ROS\u53c2\u6570\u670d\u52a1\u5668"},"content":{"rendered":"<h2>ROS\u53c2\u6570\u670d\u52a1\u5668<\/h2>\n<p>\u5728ROS\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668&#xff08;Parameter Server&#xff09;\u662f\u4e00\u4e2a\u4e2d\u5fc3\u5316\u7684\u952e\u503c\u5bf9\u6570\u636e\u5e93&#xff0c;\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u5404\u79cd\u53c2\u6570\u3002\u8fd9\u4e9b\u53c2\u6570\u53ef\u4ee5\u662f\u673a\u5668\u4eba\u914d\u7f6e\u3001\u4f20\u611f\u5668\u6821\u51c6\u503c\u3001\u7b97\u6cd5\u5e38\u91cf\u7b49\u3002\u53c2\u6570\u670d\u52a1\u5668\u901a\u8fc7ROS\u7684\u4e3b\u8282\u70b9&#xff08;ROS Master&#xff09;\u8fdb\u884c\u7ba1\u7406&#xff0c;\u652f\u6301\u591a\u79cd\u6570\u636e\u7c7b\u578b&#xff08;\u5982\u6574\u6570\u3001\u6d6e\u70b9\u6570\u3001\u5b57\u7b26\u4e32\u3001\u5217\u8868\u3001\u5b57\u5178\u7b49&#xff09;&#xff0c;\u5e76\u4e14\u53ef\u4ee5\u7531\u4e0d\u540c\u7684\u8282\u70b9\u8bfb\u53d6\u548c\u4fee\u6539\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250520000100-682bc63c7ab52.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>\u53c2\u6570\u670d\u52a1\u5668\u7684\u57fa\u672c\u6982\u5ff5<\/h3>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u4f7f\u7528\u952e\u503c\u5bf9\u7684\u5f62\u5f0f\u5b58\u50a8\u6570\u636e&#xff0c;\u5176\u4e2d\u952e\u662f\u53c2\u6570\u7684\u540d\u79f0&#xff0c;\u503c\u662f\u53c2\u6570\u7684\u5177\u4f53\u5185\u5bb9\u3002\u8fd9\u4e9b\u952e\u503c\u5bf9\u53ef\u4ee5\u901a\u8fc7ROS\u7684\u4e3b\u8282\u70b9\u5728\u4e0d\u540c\u7684\u8282\u70b9\u4e4b\u95f4\u5171\u4eab\u3002\u53c2\u6570\u670d\u52a1\u5668\u7684\u6570\u636e\u5b58\u50a8\u5728XML-RPC\u670d\u52a1\u5668\u4e2d&#xff0c;ROS\u4e3b\u8282\u70b9\u8d1f\u8d23\u7ba1\u7406\u548c\u534f\u8c03\u53c2\u6570\u7684\u8bfb\u5199\u64cd\u4f5c\u3002<\/p>\n<h4>\u53c2\u6570\u7684\u547d\u540d<\/h4>\n<p>\u53c2\u6570\u7684\u547d\u540d\u9075\u5faaROS\u7684\u547d\u540d\u7a7a\u95f4\u89c4\u5219&#xff0c;\u53ef\u4ee5\u4f7f\u7528\u7edd\u5bf9\u8def\u5f84\u6216\u76f8\u5bf9\u8def\u5f84\u3002\u7edd\u5bf9\u8def\u5f84\u4ee5\u659c\u6760&#xff08;\/&#xff09;\u5f00\u5934&#xff0c;\u76f8\u5bf9\u8def\u5f84\u5219\u76f8\u5bf9\u4e8e\u5f53\u524d\u8282\u70b9\u7684\u547d\u540d\u7a7a\u95f4\u3002\u4f8b\u5982&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u7edd\u5bf9\u8def\u5f84&#xff1a;\/robot_name<\/p>\n<\/li>\n<li>\n<p>\u76f8\u5bf9\u8def\u5f84&#xff1a;~robot_name<\/p>\n<\/li>\n<\/ul>\n<h4>\u53c2\u6570\u7684\u7c7b\u578b<\/h4>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u652f\u6301\u591a\u79cd\u6570\u636e\u7c7b\u578b&#xff0c;\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6574\u6570&#xff1a;int<\/p>\n<\/li>\n<li>\n<p>\u6d6e\u70b9\u6570&#xff1a;float<\/p>\n<\/li>\n<li>\n<p>\u5b57\u7b26\u4e32&#xff1a;string<\/p>\n<\/li>\n<li>\n<p>\u5217\u8868&#xff1a;list<\/p>\n<\/li>\n<li>\n<p>\u5b57\u5178&#xff1a;dict<\/p>\n<\/li>\n<li>\n<p>\u591a\u7ef4\u6570\u7ec4&#xff1a;array<\/p>\n<\/li>\n<\/ul>\n<h3>\u8bfb\u53d6\u548c\u8bbe\u7f6e\u53c2\u6570<\/h3>\n<p>ROS\u63d0\u4f9b\u4e86\u591a\u79cd\u65b9\u6cd5\u6765\u8bfb\u53d6\u548c\u8bbe\u7f6e\u53c2\u6570&#xff0c;\u5305\u62ec\u547d\u4ee4\u884c\u5de5\u5177\u3001Python API\u548cC&#043;&#043; API\u3002<\/p>\n<h4>\u547d\u4ee4\u884c\u5de5\u5177<\/h4>\n<ul>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p>rosparam <span class=\"token builtin class-name\">set<\/span> <span class=\"token operator\">&lt;<\/span>param_name<span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&lt;<\/span>value<span class=\"token operator\">&gt;<\/span><\/p>\n<p>\u4f8b\u5982&#xff0c;\u8bbe\u7f6e\u4e00\u4e2a\u540d\u4e3arobot_name\u7684\u53c2\u6570\u4e3amy_robot&#xff1a;<\/p>\n<p>rosparam <span class=\"token builtin class-name\">set<\/span> \/robot_name my_robot<\/p>\n<\/li>\n<li>\n<p>\u8bfb\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p>rosparam get <span class=\"token operator\">&lt;<\/span>param_name<span class=\"token operator\">&gt;<\/span><\/p>\n<p>\u4f8b\u5982&#xff0c;\u8bfb\u53d6robot_name\u53c2\u6570&#xff1a;<\/p>\n<p>rosparam get \/robot_name<\/p>\n<\/li>\n<li>\n<p>\u67e5\u770b\u6240\u6709\u53c2\u6570&#xff1a;<\/p>\n<p>rosparam list<\/p>\n<\/li>\n<\/ul>\n<h4>Python API<\/h4>\n<p>\u5728Python\u4e2d&#xff0c;\u53ef\u4ee5\u4f7f\u7528rospy\u5e93\u6765\u8bfb\u53d6\u548c\u8bbe\u7f6e\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u8bbe\u7f6e\u53c2\u6570&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> rospy<\/p>\n<p><span class=\"token comment\"># \u8bbe\u7f6e\u5168\u5c40\u53c2\u6570<\/span><\/p>\n<p>rospy<span class=\"token punctuation\">.<\/span>set_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;my_robot&#039;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8bbe\u7f6e\u79c1\u6709\u53c2\u6570&#xff08;\u76f8\u5bf9\u4e8e\u5f53\u524d\u8282\u70b9\u7684\u547d\u540d\u7a7a\u95f4&#xff09;<\/span><\/p>\n<p>rospy<span class=\"token punctuation\">.<\/span>set_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;my_robot_private&#039;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<li>\n<p>\u8bfb\u53d6\u53c2\u6570&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> rospy<\/p>\n<p><span class=\"token comment\"># \u8bfb\u53d6\u5168\u5c40\u53c2\u6570<\/span><\/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><\/p>\n<p><span class=\"token comment\"># \u8bfb\u53d6\u79c1\u6709\u53c2\u6570<\/span><\/p>\n<p>robot_name_private <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_name&#039;<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token comment\"># \u7b2c\u4e8c\u4e2a\u53c2\u6570\u4e3a\u9ed8\u8ba4\u503c<\/span><\/p>\n<\/li>\n<\/ul>\n<h4>C&#043;&#043; API<\/h4>\n<p>\u5728C&#043;&#043;\u4e2d&#xff0c;\u53ef\u4ee5\u4f7f\u7528ros::param\u547d\u540d\u7a7a\u95f4\u4e2d\u7684\u51fd\u6570\u6765\u8bfb\u53d6\u548c\u8bbe\u7f6e\u53c2\u6570\u3002<\/p>\n<ul>\n<li>\n<p>\u8bbe\u7f6e\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><\/p>\n<p>  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_example_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u5168\u5c40\u53c2\u6570<\/span><\/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_name&#034;<\/span><span class=\"token punctuation\">,<\/span> std<span class=\"token operator\">::<\/span><span class=\"token function\">string<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;my_robot&#034;<\/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\u79c1\u6709\u53c2\u6570&#xff08;\u76f8\u5bf9\u4e8e\u5f53\u524d\u8282\u70b9\u7684\u547d\u540d\u7a7a\u95f4&#xff09;<\/span><\/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_name_private&#034;<\/span><span class=\"token punctuation\">,<\/span> std<span class=\"token operator\">::<\/span><span class=\"token function\">string<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;my_robot_private&#034;<\/span><span class=\"token punctuation\">)<\/span><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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<li>\n<p>\u8bfb\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><\/p>\n<p>  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_example_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u5168\u5c40\u53c2\u6570<\/span><\/p>\n<p>  std<span class=\"token operator\">::<\/span>string robot_name<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/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><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u79c1\u6709\u53c2\u6570<\/span><\/p>\n<p>  std<span class=\"token operator\">::<\/span>string robot_name_private<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;robot_name_private&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_name_private<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot Name (Global): %s&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_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><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot Name (Private): %s&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_name_private<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<p>  <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h3>\u53c2\u6570\u670d\u52a1\u5668\u7684\u9ad8\u7ea7\u7528\u6cd5<\/h3>\n<h4>\u53c2\u6570\u6587\u4ef6<\/h4>\n<p>\u53c2\u6570\u53ef\u4ee5\u5b58\u50a8\u5728\u6587\u4ef6\u4e2d&#xff0c;\u901a\u5e38\u4f7f\u7528 YAML \u683c\u5f0f\u3002\u901a\u8fc7 rosparam \u547d\u4ee4\u52a0\u8f7d\u53c2\u6570\u6587\u4ef6\u3002<\/p>\n<ul>\n<li>\n<p>\u521b\u5efa\u53c2\u6570\u6587\u4ef6&#xff1a;<\/p>\n<p><span class=\"token comment\"># config.yaml<\/span><\/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><\/p>\n<p><span class=\"token key atrule\">robot_pose<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>  <span class=\"token key atrule\">x<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">1.0<\/span><\/p>\n<p>  <span class=\"token key atrule\">y<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">2.0<\/span><\/p>\n<p>  <span class=\"token key atrule\">z<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">3.0<\/span><\/p>\n<p><span class=\"token key atrule\">sensors<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>  <span class=\"token punctuation\">&#8211;<\/span> <span class=\"token key atrule\">name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;camera&#034;<\/span><\/p>\n<p>    <span class=\"token key atrule\">type<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;rgb&#034;<\/span><\/p>\n<p>  <span class=\"token punctuation\">&#8211;<\/span> <span class=\"token key atrule\">name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;lidar&#034;<\/span><\/p>\n<p>    <span class=\"token key atrule\">type<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;laser&#034;<\/span><\/p>\n<\/li>\n<li>\n<p>\u52a0\u8f7d\u53c2\u6570\u6587\u4ef6&#xff1a;<\/p>\n<p>rosparam load_file config.yaml<\/p>\n<\/li>\n<\/ul>\n<h4>\u52a8\u6001\u53c2\u6570<\/h4>\n<p>\u52a8\u6001\u53c2\u6570\u53ef\u4ee5\u5728\u8282\u70b9\u8fd0\u884c\u65f6\u52a8\u6001\u4fee\u6539\u3002ROS\u63d0\u4f9b\u4e86dynamic_reconfigure\u5e93\u6765\u5b9e\u73b0\u8fd9\u4e00\u529f\u80fd\u3002<\/p>\n<ul>\n<li>\n<p>\u521b\u5efa\u914d\u7f6e\u6587\u4ef6&#xff1a;<\/p>\n<p><span class=\"token comment\"># config\/robot.cfg<\/span><\/p>\n<p>int robot_speed<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Robot speed in cm\/s&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><\/p>\n<\/li>\n<li>\n<p>\u7f16\u5199\u914d\u7f6e\u670d\u52a1\u5668&#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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;dynamic_reconfigure\/server.h&gt;<\/span><\/span><\/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;my_robot\/RobotConfig.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">callback<\/span><span class=\"token punctuation\">(<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig <span class=\"token operator\">&amp;<\/span>config<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">uint32_t<\/span> level<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Reconfigure Request: %d m\/s&#034;<\/span><span class=\"token punctuation\">,<\/span> config<span class=\"token punctuation\">.<\/span>robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/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><\/p>\n<p>  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;robot_config_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  dynamic_reconfigure<span class=\"token operator\">::<\/span>Server<span class=\"token operator\">&lt;<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig<span class=\"token operator\">&gt;<\/span> <span class=\"token function\">server<\/span><span class=\"token punctuation\">(<\/span>nh<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  dynamic_reconfigure<span class=\"token operator\">::<\/span>Server<span class=\"token operator\">&lt;<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig<span class=\"token operator\">&gt;<\/span><span class=\"token operator\">::<\/span>CallbackType f<span class=\"token punctuation\">;<\/span><\/p>\n<p>  f <span class=\"token operator\">&#061;<\/span> boost<span class=\"token operator\">::<\/span><span class=\"token function\">bind<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>callback<span class=\"token punctuation\">,<\/span> _1<span class=\"token punctuation\">,<\/span> _2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  server<span class=\"token punctuation\">.<\/span><span class=\"token function\">setCallback<\/span><span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span><span class=\"token function\">spin<\/span><span class=\"token punctuation\">(<\/span><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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<li>\n<p>\u7f16\u5199\u914d\u7f6e\u5ba2\u6237\u7aef&#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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;dynamic_reconfigure\/client.h&gt;<\/span><\/span><\/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;my_robot\/RobotConfig.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">callback<\/span><span class=\"token punctuation\">(<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig <span class=\"token operator\">&amp;<\/span>config<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">uint32_t<\/span> level<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;New speed: %d m\/s&#034;<\/span><span class=\"token punctuation\">,<\/span> config<span class=\"token punctuation\">.<\/span>robot_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/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><\/p>\n<p>  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;robot_config_client&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  dynamic_reconfigure<span class=\"token operator\">::<\/span>Client<span class=\"token operator\">&lt;<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig<span class=\"token operator\">&gt;<\/span> <span class=\"token function\">client<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_config_node&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token boolean\">true<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  my_robot<span class=\"token operator\">::<\/span>RobotConfig config<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u83b7\u53d6\u5f53\u524d\u914d\u7f6e<\/span><\/p>\n<p>  client<span class=\"token punctuation\">.<\/span><span class=\"token function\">getConfig<\/span><span class=\"token punctuation\">(<\/span>config<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u4fee\u6539\u53c2\u6570<\/span><\/p>\n<p>  config<span class=\"token punctuation\">.<\/span>robot_speed <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">75<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  client<span class=\"token punctuation\">.<\/span><span class=\"token function\">updateConfig<\/span><span class=\"token punctuation\">(<\/span>config<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span><span class=\"token function\">spin<\/span><span class=\"token punctuation\">(<\/span><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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h4>\u53c2\u6570\u7684\u6301\u4e45\u5316<\/h4>\n<p>\u53c2\u6570\u53ef\u4ee5\u6301\u4e45\u5316\u5b58\u50a8&#xff0c;\u4ee5\u4fbf\u5728ROS\u8282\u70b9\u91cd\u542f\u540e\u4ecd\u7136\u4fdd\u7559\u3002\u53ef\u4ee5\u901a\u8fc7rosparam\u547d\u4ee4\u6216ROS API\u5b9e\u73b0\u53c2\u6570\u7684\u6301\u4e45\u5316\u3002<\/p>\n<ul>\n<li>\n<p>\u4f7f\u7528 rosparam \u547d\u4ee4\u6301\u4e45\u5316\u53c2\u6570&#xff1a;<\/p>\n<p>rosparam dump config.yaml<\/p>\n<p>rosparam load config.yaml<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528ROS API\u6301\u4e45\u5316\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><\/p>\n<p>  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_persistence_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u53c2\u6570<\/span><\/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_name&#034;<\/span><span class=\"token punctuation\">,<\/span> std<span class=\"token operator\">::<\/span><span class=\"token function\">string<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;my_robot&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u6301\u4e45\u5316\u53c2\u6570<\/span><\/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>  <span class=\"token comment\">\/\/ \u5220\u9664\u53c2\u6570<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">,<\/span> std<span class=\"token operator\">::<\/span><span class=\"token function\">string<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;default_robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u9ed8\u8ba4\u503c<\/span><\/p>\n<p>  <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h4>\u53c2\u6570\u7684\u9ed8\u8ba4\u503c<\/h4>\n<p>\u5728\u8bfb\u53d6\u53c2\u6570\u65f6&#xff0c;\u53ef\u4ee5\u6307\u5b9a\u9ed8\u8ba4\u503c&#xff0c;\u4ee5\u9632\u6b62\u53c2\u6570\u672a\u8bbe\u7f6e\u65f6\u5bfc\u81f4\u7a0b\u5e8f\u5d29\u6e83\u3002<\/p>\n<ul>\n<li>\n<p>Python\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> rospy<\/p>\n<p><span class=\"token comment\"># \u8bfb\u53d6\u53c2\u6570&#xff0c;\u6307\u5b9a\u9ed8\u8ba4\u503c<\/span><\/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_name&#039;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<\/li>\n<li>\n<p>C&#043;&#043;\u793a\u4f8b&#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><\/p>\n<p>  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_default_value_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u53c2\u6570&#xff0c;\u6307\u5b9a\u9ed8\u8ba4\u503c<\/span><\/p>\n<p>  std<span class=\"token operator\">::<\/span>string robot_name <span class=\"token operator\">&#061;<\/span> nh<span class=\"token punctuation\">.<\/span>param<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/robot_name&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;default_robot_name&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Robot Name: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> robot_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><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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h3>\u53c2\u6570\u670d\u52a1\u5668\u7684\u5b9e\u9645\u5e94\u7528<\/h3>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u5728ROS\u4e2d\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528&#xff0c;\u7279\u522b\u662f\u5728\u673a\u5668\u4eba\u4eff\u771f\u548c\u63a7\u5236\u4e2d\u3002<\/p>\n<h4>\u673a\u5668\u4eba\u914d\u7f6e<\/h4>\n<p>\u5728\u673a\u5668\u4eba\u4eff\u771f\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u7528\u4e8e\u5b58\u50a8\u673a\u5668\u4eba\u7684\u914d\u7f6e\u4fe1\u606f&#xff0c;\u5982\u5173\u8282\u7684\u6700\u5927\u901f\u5ea6\u3001\u4f20\u611f\u5668\u7684\u6821\u51c6\u503c\u7b49\u3002<\/p>\n<ul>\n<li>\n<p>\u914d\u7f6e\u6587\u4ef6\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># robot_config.yaml<\/span><\/p>\n<p><span class=\"token key atrule\">max_joint_speed<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">1.0<\/span><\/p>\n<p><span class=\"token key atrule\">sensor_calibrations<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>  <span class=\"token punctuation\">&#8211;<\/span> <span class=\"token key atrule\">name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;camera1&#034;<\/span><\/p>\n<p>    <span class=\"token key atrule\">calibration_matrix<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">1.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p>  <span class=\"token punctuation\">&#8211;<\/span> <span class=\"token key atrule\">name<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;camera2&#034;<\/span><\/p>\n<p>    <span class=\"token key atrule\">calibration_matrix<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.9<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.9<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<\/li>\n<li>\n<p>\u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6\u5e76\u8bfb\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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;yaml-cpp\/yaml.h&gt;<\/span><\/span><\/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;string&gt;<\/span><\/span><\/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;vector&gt;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">SensorCalibration<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>  std<span class=\"token operator\">::<\/span>string name<span class=\"token punctuation\">;<\/span><\/p>\n<p>  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> calibration_matrix<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/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><\/p>\n<p>  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;robot_config_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">load_file<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;robot_config.yaml&#034;<\/span><span class=\"token punctuation\">,<\/span> nh<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u53c2\u6570<\/span><\/p>\n<p>  <span class=\"token keyword\">double<\/span> max_joint_speed<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;max_joint_speed&#034;<\/span><span class=\"token punctuation\">,<\/span> max_joint_speed<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>SensorCalibration<span class=\"token operator\">&gt;<\/span> sensor_calibrations<span class=\"token punctuation\">;<\/span><\/p>\n<p>  XmlRpc<span class=\"token operator\">::<\/span>XmlRpcValue calibrations<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_calibrations&#034;<\/span><span class=\"token punctuation\">,<\/span> calibrations<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> calibrations<span class=\"token punctuation\">.<\/span><span class=\"token function\">size<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token operator\">&#043;&#043;<\/span>i<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>    SensorCalibration calibration<span class=\"token punctuation\">;<\/span><\/p>\n<p>    calibration<span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> calibrations<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;name&#034;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>as<span class=\"token operator\">&lt;<\/span>std<span class=\"token operator\">::<\/span>string<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    calibration<span class=\"token punctuation\">.<\/span>calibration_matrix <span class=\"token operator\">&#061;<\/span> calibrations<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;calibration_matrix&#034;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    sensor_calibrations<span class=\"token punctuation\">.<\/span><span class=\"token function\">push_back<\/span><span class=\"token punctuation\">(<\/span>calibration<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Max Joint Speed: %f&#034;<\/span><span class=\"token punctuation\">,<\/span> max_joint_speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">auto<\/span> <span class=\"token operator\">&amp;<\/span>calibration <span class=\"token operator\">:<\/span> sensor_calibrations<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>    <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Sensor %s Calibration Matrix: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> calibration<span class=\"token punctuation\">.<\/span>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> <span class=\"token class-name\">YAML<\/span><span class=\"token operator\">::<\/span><span class=\"token function\">Dump<\/span><span class=\"token punctuation\">(<\/span>calibration<span class=\"token punctuation\">.<\/span>calibration_matrix<span class=\"token punctuation\">)<\/span><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<p>  <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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h4>\u7b97\u6cd5\u53c2\u6570\u8c03\u4f18<\/h4>\n<p>\u5728\u7b97\u6cd5\u5f00\u53d1\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u5728\u8fd0\u884c\u65f6\u52a8\u6001\u8c03\u6574\u7b97\u6cd5\u53c2\u6570&#xff0c;\u4ece\u800c\u4f18\u5316\u7b97\u6cd5\u6027\u80fd\u3002<\/p>\n<ul>\n<li>\n<p>\u914d\u7f6e\u6587\u4ef6\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># algorithm_config.yaml<\/span><\/p>\n<p><span class=\"token key atrule\">threshold<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">0.5<\/span><\/p>\n<p><span class=\"token key atrule\">max_iterations<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">1000<\/span><\/p>\n<\/li>\n<li>\n<p>\u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6\u5e76\u8bfb\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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;yaml-cpp\/yaml.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><\/p>\n<p>  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;algorithm_tuning_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">load_file<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;algorithm_config.yaml&#034;<\/span><span class=\"token punctuation\">,<\/span> nh<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u53c2\u6570<\/span><\/p>\n<p>  <span class=\"token keyword\">double<\/span> threshold<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;threshold&#034;<\/span><span class=\"token punctuation\">,<\/span> threshold<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">int<\/span> max_iterations<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;max_iterations&#034;<\/span><span class=\"token punctuation\">,<\/span> max_iterations<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Threshold: %f, Max Iterations: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> threshold<span class=\"token punctuation\">,<\/span> max_iterations<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u52a8\u6001\u8c03\u6574\u53c2\u6570<\/span><\/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;threshold&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.6<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/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;max_iterations&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1500<\/span><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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h4>\u4eff\u771f\u573a\u666f\u8bbe\u7f6e<\/h4>\n<p>\u5728\u673a\u5668\u4eba\u4eff\u771f\u4e2d&#xff0c;\u53c2\u6570\u670d\u52a1\u5668\u53ef\u4ee5\u7528\u4e8e\u8bbe\u7f6e\u4eff\u771f\u573a\u666f\u7684\u53c2\u6570&#xff0c;\u5982\u5730\u56fe\u8def\u5f84\u3001\u4eff\u771f\u65f6\u95f4\u7b49\u3002<\/p>\n<ul>\n<li>\n<p>\u914d\u7f6e\u6587\u4ef6\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># simulation_config.yaml<\/span><\/p>\n<p><span class=\"token key atrule\">map_path<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token string\">&#034;\/path\/to\/map.yaml&#034;<\/span><\/p>\n<p><span class=\"token key atrule\">simulation_time<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">60.0<\/span><\/p>\n<\/li>\n<li>\n<p>\u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6\u5e76\u8bfb\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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;yaml-cpp\/yaml.h&gt;<\/span><\/span><\/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;string&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><\/p>\n<p>  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;simulation_setup_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u52a0\u8f7d\u914d\u7f6e\u6587\u4ef6<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>param<span class=\"token operator\">::<\/span><span class=\"token function\">load_file<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;simulation_config.yaml&#034;<\/span><span class=\"token punctuation\">,<\/span> nh<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bfb\u53d6\u53c2\u6570<\/span><\/p>\n<p>  std<span class=\"token operator\">::<\/span>string map_path<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;map_path&#034;<\/span><span class=\"token punctuation\">,<\/span> map_path<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">double<\/span> simulation_time<span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;simulation_time&#034;<\/span><span class=\"token punctuation\">,<\/span> simulation_time<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Map Path: %s, Simulation Time: %f&#034;<\/span><span class=\"token punctuation\">,<\/span> map_path<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> simulation_time<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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<\/li>\n<\/ul>\n<h3>\u53c2\u6570\u670d\u52a1\u5668\u7684\u6ce8\u610f\u4e8b\u9879<\/h3>\n<p>\u5728\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u65f6&#xff0c;\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u70b9&#xff1a;<\/p>\n<li>\n<p>\u53c2\u6570\u7684\u547d\u540d\u51b2\u7a81&#xff1a;\u907f\u514d\u4f7f\u7528\u76f8\u540c\u7684\u53c2\u6570\u540d\u79f0&#xff0c;\u7279\u522b\u662f\u5728\u591a\u4e2a\u8282\u70b9\u4e2d\u4f7f\u7528\u76f8\u540c\u7684\u547d\u540d\u7a7a\u95f4\u65f6\u3002<\/p>\n<\/li>\n<li>\n<p>\u53c2\u6570\u7684\u7c7b\u578b&#xff1a;\u786e\u4fdd\u5728\u8bfb\u53d6\u548c\u8bbe\u7f6e\u53c2\u6570\u65f6\u4f7f\u7528\u6b63\u786e\u7684\u6570\u636e\u7c7b\u578b\u3002<\/p>\n<\/li>\n<li>\n<p>\u53c2\u6570\u7684\u6301\u4e45\u5316&#xff1a;\u5408\u7406\u4f7f\u7528\u53c2\u6570\u7684\u6301\u4e45\u5316\u529f\u80fd&#xff0c;\u907f\u514d\u4e0d\u5fc5\u8981\u7684\u6587\u4ef6\u8bfb\u5199\u64cd\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u53c2\u6570\u7684\u52a8\u6001\u8c03\u6574&#xff1a;\u5728\u4f7f\u7528dynamic_reconfigure\u65f6&#xff0c;\u786e\u4fdd\u914d\u7f6e\u6587\u4ef6\u548c\u914d\u7f6e\u670d\u52a1\u5668\u3001\u5ba2\u6237\u7aef\u7684\u53c2\u6570\u540d\u79f0\u548c\u7c7b\u578b\u4e00\u81f4\u3002<\/p>\n<\/li>\n<h3>\u5b9e\u4f8b\u9879\u76ee&#xff1a;\u673a\u5668\u4eba\u53c2\u6570\u8c03\u6574<\/h3>\n<p>\u5047\u8bbe\u6211\u4eec\u6709\u4e00\u4e2a\u7b80\u5355\u7684\u673a\u5668\u4eba\u63a7\u5236\u8282\u70b9&#xff0c;\u9700\u8981\u6839\u636e\u4e0d\u540c\u7684\u4efb\u52a1\u8c03\u6574\u673a\u5668\u4eba\u7684\u901f\u5ea6\u548c\u8f6c\u5411\u89d2\u5ea6\u3002\u6211\u4eec\u5c06\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668\u6765\u5b9e\u73b0\u8fd9\u4e00\u529f\u80fd\u3002<\/p>\n<h4>\u9879\u76ee\u7ed3\u6784<\/h4>\n<ul>\n<li>\n<p>src\/robot_control_node.cpp<\/p>\n<\/li>\n<li>\n<p>config\/robot_config.yaml<\/p>\n<\/li>\n<li>\n<p>config\/robot.cfg<\/p>\n<\/li>\n<\/ul>\n<h4>\u914d\u7f6e\u6587\u4ef6<\/h4>\n<p><span class=\"token comment\"># config\/robot_config.yaml<\/span><\/p>\n<p><span class=\"token key atrule\">speed<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">0.5<\/span><\/p>\n<p><span class=\"token key atrule\">turn_angle<\/span><span class=\"token punctuation\">:<\/span> <span class=\"token number\">30.0<\/span><\/p>\n<h4>\u914d\u7f6e\u6587\u4ef6<\/h4>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span> <span class=\"token directive keyword\">config<\/span><span class=\"token expression\"><span class=\"token operator\">\/<\/span>robot<span class=\"token punctuation\">.<\/span>cfg<\/span><\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> speed<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Robot speed in m\/s&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><\/p>\n<p><span class=\"token keyword\">int<\/span> turn_angle<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">180<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Robot turn angle in degrees&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">30<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">180<\/span><\/p>\n<h4>\u63a7\u5236\u8282\u70b9<\/h4>\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 macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;geometry_msgs\/Twist.h&gt;<\/span><\/span><\/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;dynamic_reconfigure\/server.h&gt;<\/span><\/span><\/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;my_robot\/RobotConfig.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7528\u4e8e\u5b58\u50a8\u53c2\u6570\u7684\u5168\u5c40\u53d8\u91cf<\/span><\/p>\n<p><span class=\"token keyword\">double<\/span> speed <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.5<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">double<\/span> turn_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">30.0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u52a8\u6001\u53c2\u6570\u56de\u8c03\u51fd\u6570<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">dynamicCallback<\/span><span class=\"token punctuation\">(<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig <span class=\"token operator\">&amp;<\/span>config<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">uint32_t<\/span> level<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>  speed <span class=\"token operator\">&#061;<\/span> config<span class=\"token punctuation\">.<\/span>speed<span class=\"token punctuation\">;<\/span><\/p>\n<p>  turn_angle <span class=\"token operator\">&#061;<\/span> config<span class=\"token punctuation\">.<\/span>turn_angle<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">ROS_INFO<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Reconfigured: speed &#061; %f, turn_angle &#061; %f&#034;<\/span><span class=\"token punctuation\">,<\/span> speed<span class=\"token punctuation\">,<\/span> turn_angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token punctuation\">}<\/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><\/p>\n<p>  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;robot_control_node&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>NodeHandle nh<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u521b\u5efa\u53d1\u5e03\u8005<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>Publisher cmd_vel_pub <span class=\"token operator\">&#061;<\/span> nh<span class=\"token punctuation\">.<\/span>advertise<span class=\"token operator\">&lt;<\/span>geometry_msgs<span class=\"token operator\">::<\/span>Twist<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/cmd_vel&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u52a0\u8f7d\u521d\u59cb\u53c2\u6570<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;speed&#034;<\/span><span class=\"token punctuation\">,<\/span> speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  nh<span class=\"token punctuation\">.<\/span><span class=\"token function\">getParam<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;turn_angle&#034;<\/span><span class=\"token punctuation\">,<\/span> turn_angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u521b\u5efa\u52a8\u6001\u53c2\u6570\u670d\u52a1\u5668<\/span><\/p>\n<p>  dynamic_reconfigure<span class=\"token operator\">::<\/span>Server<span class=\"token operator\">&lt;<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig<span class=\"token operator\">&gt;<\/span> <span class=\"token function\">server<\/span><span class=\"token punctuation\">(<\/span>nh<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  dynamic_reconfigure<span class=\"token operator\">::<\/span>Server<span class=\"token operator\">&lt;<\/span>my_robot<span class=\"token operator\">::<\/span>RobotConfig<span class=\"token operator\">&gt;<\/span><span class=\"token operator\">::<\/span>CallbackType f<span class=\"token punctuation\">;<\/span><\/p>\n<p>  f <span class=\"token operator\">&#061;<\/span> boost<span class=\"token operator\">::<\/span><span class=\"token function\">bind<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>dynamicCallback<span class=\"token punctuation\">,<\/span> _1<span class=\"token punctuation\">,<\/span> _2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  server<span class=\"token punctuation\">.<\/span><span class=\"token function\">setCallback<\/span><span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u63a7\u5236\u5faa\u73af<\/span><\/p>\n<p>  ros<span class=\"token operator\">::<\/span>Rate <span class=\"token function\">rate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ 10 Hz<\/span><\/p>\n<p>  <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span>ros<span class=\"token operator\">::<\/span><span class=\"token function\">ok<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>    geometry_msgs<span class=\"token operator\">::<\/span>Twist cmd_vel<span class=\"token punctuation\">;<\/span><\/p>\n<p>    cmd_vel<span class=\"token punctuation\">.<\/span>linear<span class=\"token punctuation\">.<\/span>x <span class=\"token operator\">&#061;<\/span> speed<span class=\"token punctuation\">;<\/span><\/p>\n<p>    cmd_vel<span class=\"token punctuation\">.<\/span>angular<span class=\"token punctuation\">.<\/span>z <span class=\"token operator\">&#061;<\/span> turn_angle <span class=\"token operator\">*<\/span> M_PI <span class=\"token operator\">\/<\/span> <span class=\"token number\">180.0<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u8f6c\u6362\u4e3a\u5f27\u5ea6<\/span><\/p>\n<p>    cmd_vel_pub<span class=\"token punctuation\">.<\/span><span class=\"token function\">publish<\/span><span class=\"token punctuation\">(<\/span>cmd_vel<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    ros<span class=\"token operator\">::<\/span><span class=\"token function\">spinOnce<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    rate<span class=\"token punctuation\">.<\/span><span class=\"token function\">sleep<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <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><\/p>\n<p><span class=\"token punctuation\">}<\/span><\/p>\n<h4>\u8fd0\u884c\u9879\u76ee<\/h4>\n<li>\n<p>\u7f16\u8bd1\u9879\u76ee&#xff1a;<\/p>\n<p>\u786e\u4fdd\u9879\u76ee\u4e2d\u5305\u542bdynamic_reconfigure\u4f9d\u8d56&#xff0c;\u5e76\u7f16\u8bd1\u9879\u76ee\u3002<\/p>\n<p>catkin_make<\/p>\n<\/li>\n<li>\n<p>\u542f\u52a8ROS\u6838\u5fc3&#xff1a;<\/p>\n<p>roscore<\/p>\n<\/li>\n<li>\n<p>\u52a0\u8f7d\u53c2\u6570\u6587\u4ef6&#xff1a;<\/p>\n<p>rosparam load_file config\/robot_config.yaml<\/p>\n<\/li>\n<li>\n<p>\u542f\u52a8\u63a7\u5236\u8282\u70b9&#xff1a;<\/p>\n<p>rosrun my_robot robot_control_node<\/p>\n<\/li>\n<li>\n<p>\u52a8\u6001\u8c03\u6574\u53c2\u6570&#xff1a;<\/p>\n<p>\u4f7f\u7528rqt_reconfigure\u5de5\u5177\u52a8\u6001\u8c03\u6574\u53c2\u6570\u3002<\/p>\n<p>rosrun rqt_reconfigure rqt_reconfigure<\/p>\n<\/li>\n<p>\u901a\u8fc7\u4ee5\u4e0a\u6b65\u9aa4&#xff0c;\u60a8\u53ef\u4ee5\u5728ROS\u53c2\u6570\u670d\u52a1\u5668\u4e2d\u52a8\u6001\u8c03\u6574\u673a\u5668\u4eba\u7684\u901f\u5ea6\u548c\u8f6c\u5411\u89d2\u5ea6&#xff0c;\u4ece\u800c\u5b9e\u73b0\u66f4\u7075\u6d3b\u7684\u673a\u5668\u4eba\u63a7\u5236\u3002<\/p>\n<h3>\u7ed3\u5c3e<\/h3>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u662fROS\u4e2d\u4e00\u4e2a\u975e\u5e38\u5f3a\u5927\u7684\u5de5\u5177&#xff0c;\u7528\u4e8e\u5b58\u50a8\u548c\u5171\u4eab\u5404\u79cd\u53c2\u6570\u3002\u901a\u8fc7\u5408\u7406\u4f7f\u7528\u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u53ef\u4ee5\u7b80\u5316\u673a\u5668\u4eba\u914d\u7f6e\u3001\u7b97\u6cd5\u8c03\u4f18\u548c\u4eff\u771f\u573a\u666f\u8bbe\u7f6e\u3002\u5e0c\u671b\u672c\u8282\u5185\u5bb9\u80fd\u5e2e\u52a9\u60a8\u66f4\u597d\u5730\u7406\u89e3\u53c2\u6570\u670d\u52a1\u5668\u7684\u539f\u7406\u548c\u7528\u6cd5&#xff0c;\u5e76\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u7075\u6d3b\u5e94\u7528\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb886\u6b21\uff0c\u70b9\u8d5e28\u6b21\uff0c\u6536\u85cf11\u6b21\u3002\u5728ROS\u4e2d\uff0c\u53c2\u6570\u670d\u52a1\u5668\uff08Parameter 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