{"id":46294,"date":"2025-07-30T02:47:40","date_gmt":"2025-07-29T18:47:40","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/46294.html"},"modified":"2025-07-30T02:47:40","modified_gmt":"2025-07-29T18:47:40","slug":"%e3%80%90ros1%e3%80%9109-ros%e9%80%9a%e4%bf%a1%e6%9c%ba%e5%88%b6-%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\/46294.html","title":{"rendered":"\u3010ROS1\u301109-ROS\u901a\u4fe1\u673a\u5236\u2014\u2014\u53c2\u6570\u670d\u52a1\u5668"},"content":{"rendered":"<p id=\"main-toc\">\u76ee\u5f55<\/p>\n<p id=\"%E4%B8%80%E3%80%81%E5%8F%82%E6%95%B0%E6%9C%8D%E5%8A%A1%E5%99%A8%E6%A6%82%E5%BF%B5-toc\" style=\"margin-left:0px\">\u4e00\u3001\u53c2\u6570\u670d\u52a1\u5668\u6982\u5ff5<\/p>\n<p id=\"%E4%BA%8C%E3%80%81%E5%8F%82%E6%95%B0%E6%93%8D%E4%BD%9C-toc\" style=\"margin-left:0px\">\u4e8c\u3001\u53c2\u6570\u64cd\u4f5c<\/p>\n<p id=\"2.1%20C%2B%2B%E5%AE%9E%E7%8E%B0-toc\" style=\"margin-left:40px\">2.1 C&#043;&#043;\u5b9e\u73b0<\/p>\n<p id=\"2.1.1%20%E6%96%B0%E5%A2%9E%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.1.1 \u65b0\u589e\u53c2\u6570<\/p>\n<p id=\"2.1.2%20%E4%BF%AE%E6%94%B9%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.1.2 \u4fee\u6539\u53c2\u6570<\/p>\n<p id=\"2.1.3%20%E6%9F%A5%E8%AF%A2%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.1.3 \u67e5\u8be2\u53c2\u6570<\/p>\n<p id=\"2.1.4%20%E5%88%A0%E9%99%A4%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.1.4 \u5220\u9664\u53c2\u6570<\/p>\n<p id=\"2.2%20python%E5%AE%9E%E7%8E%B0-toc\" style=\"margin-left:40px\">2.2 python\u5b9e\u73b0<\/p>\n<p id=\"2.2.1%20%E6%96%B0%E5%A2%9E%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.2.1 \u65b0\u589e\u53c2\u6570<\/p>\n<p id=\"2.2.2%20%E4%BF%AE%E6%94%B9%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.2.2 \u4fee\u6539\u53c2\u6570<\/p>\n<p id=\"2.2.3%20%E6%9F%A5%E8%AF%A2%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.2.3 \u67e5\u8be2\u53c2\u6570<\/p>\n<p id=\"2.2.4%20%E5%88%A0%E9%99%A4%E5%8F%82%E6%95%B0-toc\" style=\"margin-left:80px\">2.2.4 \u5220\u9664\u53c2\u6570<\/p>\n<hr id=\"hr-toc\" \/>\n<h2 id=\"%E4%B8%80%E3%80%81%E5%8F%82%E6%95%B0%E6%9C%8D%E5%8A%A1%E5%99%A8%E6%A6%82%E5%BF%B5\">\u4e00\u3001\u53c2\u6570\u670d\u52a1\u5668\u6982\u5ff5<\/h2>\n<p>\u5047\u8bbe\u6b63\u5728\u5f00\u53d1\u4e00\u4e2a\u590d\u6742\u7684\u673a\u5668\u4eba\u5e94\u7528&#xff0c;\u91cc\u9762\u6709\u5f88\u591a\u9700\u8981\u914d\u7f6e\u7684\u6570\u503c&#xff0c;\u6bd4\u5982&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u673a\u5668\u4eba\u7684\u7269\u7406\u5c3a\u5bf8&#xff08;\u8f6e\u5b50\u76f4\u5f84\u3001\u8f6e\u8ddd&#xff09;<\/p>\n<\/li>\n<li>\n<p>PID \u63a7\u5236\u5668\u7684\u589e\u76ca\u53c2\u6570&#xff08;Kp, Ki, Kd&#xff09;<\/p>\n<\/li>\n<li>\n<p>\u4f20\u611f\u5668\u7684\u914d\u7f6e&#xff08;\u76f8\u673a\u5206\u8fa8\u7387\u3001\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u9891\u7387&#xff09;<\/p>\n<\/li>\n<li>\n<p>\u5bfc\u822a\u7b97\u6cd5\u7684\u53c2\u6570&#xff08;\u907f\u969c\u8ddd\u79bb\u3001\u76ee\u6807\u5bb9\u5fcd\u5ea6&#xff09;<\/p>\n<\/li>\n<\/ul>\n<p>\u4f60\u5f53\u7136\u53ef\u4ee5\u628a\u8fd9\u4e9b\u6570\u503c\u786c\u7f16\u7801&#xff08;hard-code&#xff09;\u5728\u4f60\u7684 C&#043;&#043; \u6216 Python \u4ee3\u7801\u91cc\u3002\u4f46\u8fd9\u6837\u505a\u6709\u51e0\u4e2a\u5de8\u5927\u7684\u7f3a\u70b9&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4fee\u6539\u56f0\u96be&#xff1a;\u6bcf\u6b21\u60f3\u8c03\u6574\u4e00\u4e2a\u53c2\u6570&#xff0c;\u90fd\u5fc5\u987b\u91cd\u65b0\u4fee\u6539\u4ee3\u7801\u3001\u91cd\u65b0\u7f16\u8bd1\u3001\u91cd\u65b0\u90e8\u7f72\u3002<\/p>\n<\/li>\n<li>\n<p>\u590d\u7528\u6027\u5dee&#xff1a;\u540c\u4e00\u4e2a\u7b97\u6cd5\u7528\u5728\u4e0d\u540c\u673a\u5668\u4eba\u4e0a&#xff0c;\u53c2\u6570\u4e0d\u540c&#xff0c;\u5c31\u9700\u8981\u7ef4\u62a4\u591a\u4e2a\u7248\u672c\u7684\u4ee3\u7801\u3002<\/p>\n<\/li>\n<li>\n<p>\u7ba1\u7406\u6df7\u4e71&#xff1a;\u53c2\u6570\u6563\u843d\u5728\u5404\u4e2a\u8282\u70b9\u7684\u4ee3\u7801\u4e2d&#xff0c;\u96be\u4ee5\u96c6\u4e2d\u67e5\u770b\u548c\u7ba1\u7406\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u53c2\u6570\u670d\u52a1\u5668\u5c31\u662f\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u800c\u751f\u7684\u3002\u5b83\u662f\u4e00\u4e2a\u5168\u5c40\u7684\u3001\u96c6\u4e2d\u5f0f\u7684\u3001\u8fd0\u884c\u5728 ROS Master \u5185\u90e8\u7684\u5b57\u5178&#xff08;dictionary&#xff09;&#xff0c;\u80fd\u591f\u5b58\u50a8\u4e00\u4e9b\u591a\u8282\u70b9\u5171\u4eab\u7684\u6570\u636e&#xff0c;\u7c7b\u4f3c\u4e8e\u5168\u5c40\u53d8\u91cf\u3002<\/p>\n<p>\u8fd9\u4e2a\u201c\u5b57\u5178\u201d\u53ef\u4ee5\u5b58\u50a8\u5404\u79cd\u57fa\u672c\u6570\u636e\u7c7b\u578b\u7684\u952e\u503c\u5bf9&#xff08;Key-Value pairs&#xff09;&#xff0c;\u4efb\u4f55 ROS \u8282\u70b9\u90fd\u53ef\u4ee5\u5728\u8fd0\u884c\u65f6\u5b58\u5165 (set)\u3001\u67e5\u8be2 (get)\u00a0\u548c\u00a0\u5220\u9664 (delete)\u00a0\u8fd9\u4e9b\u53c2\u6570\u3002<\/p>\n<p>\u6838\u5fc3\u7279\u70b9:<\/p>\n<ul>\n<li>\n<p>\u96c6\u4e2d\u5b58\u50a8: \u6240\u6709\u53c2\u6570\u90fd\u5b58\u50a8\u5728\u4e00\u4e2a\u5730\u65b9&#xff08;ROS Master&#xff09;&#xff0c;\u65b9\u4fbf\u7ba1\u7406\u548c\u8c03\u8bd5\u3002<\/p>\n<\/li>\n<li>\n<p>\u5168\u5c40\u53ef\u8bbf\u95ee: \u4efb\u4f55\u8fde\u63a5\u5230\u540c\u4e00\u4e2a ROS Master \u7684\u8282\u70b9\u90fd\u53ef\u4ee5\u8bbf\u95ee\u8fd9\u4e9b\u53c2\u6570\u3002<\/p>\n<\/li>\n<li>\n<p>\u52a8\u6001\u914d\u7f6e: \u53ef\u4ee5\u5728\u8282\u70b9\u8fd0\u884c\u65f6\u52a8\u6001\u5730\u4fee\u6539\u53c2\u6570&#xff0c;\u800c\u65e0\u9700\u91cd\u542f\u8282\u70b9&#xff08;\u9700\u8981\u8282\u70b9\u4ee3\u7801\u652f\u6301\u52a8\u6001\u91cd\u914d\u7f6e&#xff09;\u3002<\/p>\n<\/li>\n<li>\n<p>\u4e0e\u4ee3\u7801\u89e3\u8026: \u5c06\u914d\u7f6e\u53c2\u6570\u4ece\u4e1a\u52a1\u903b\u8f91\u4ee3\u7801\u4e2d\u5206\u79bb\u51fa\u6765&#xff0c;\u63d0\u9ad8\u4e86\u4ee3\u7801\u7684\u901a\u7528\u6027\u548c\u53ef\u7ef4\u62a4\u6027\u3002<\/p>\n<\/li>\n<li>\n<p>\u652f\u6301\u591a\u79cd\u6570\u636e\u7c7b\u578b: \u652f\u6301\u5b57\u7b26\u4e32\u3001\u6574\u6570\u3001\u6d6e\u70b9\u6570\u3001\u5e03\u5c14\u503c\u3001\u5217\u8868&#xff08;\u6570\u7ec4&#xff09;\u548c\u5b57\u5178&#xff08;\u7ed3\u6784\u4f53&#xff09;\u3002<\/p>\n<\/li>\n<\/ul>\n<p><span style=\"color:#fe2c24\">\u6ce8\u610f<\/span>&#xff1a;\u53c2\u6570\u670d\u52a1\u5668\u4e0d\u662f\u4e3a\u9ad8\u6027\u80fd\u800c\u8bbe\u8ba1\u7684&#xff0c;\u56e0\u6b64\u6700\u597d\u7528\u4e8e\u5b58\u50a8\u9759\u6001\u7684\u975e\u4e8c\u8fdb\u5236\u7684\u7b80\u5355\u6570\u636e\u3002<\/p>\n<\/p>\n<h2 id=\"%E4%BA%8C%E3%80%81%E5%8F%82%E6%95%B0%E6%93%8D%E4%BD%9C\">\u4e8c\u3001\u53c2\u6570\u64cd\u4f5c<\/h2>\n<h3 id=\"2.1%20C%2B%2B%E5%AE%9E%E7%8E%B0\">2.1 C&#043;&#043;\u5b9e\u73b0<\/h3>\n<h4 id=\"2.1.1%20%E6%96%B0%E5%A2%9E%E5%8F%82%E6%95%B0\">2.1.1 \u65b0\u589e\u53c2\u6570<\/h4>\n<p>\u8fdb\u5165\u5230\u5de5\u4f5c\u7a7a\u95f4\u7684src\u76ee\u5f55\u4e0b&#xff0c;\u8f93\u5165\u5982\u4e0b\u6307\u4ee4\u6765\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a\u201cplumbing_param_server\u201d\u7684\u529f\u80fd\u5305<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"232\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184735-68891747df2c6.png\" width=\"727\" \/><\/p>\n<p>\u5728\u529f\u80fd\u5305\u7684src\u76ee\u5f55\u4e0b\u65b0\u5efa\u4e00\u4e2acpp\u6587\u4ef6&#xff0c;\u8fd9\u91cc\u547d\u540d\u4e3a\u201cdemo01_param_set.cpp\u201d<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"573\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184735-68891747f336e.png\" width=\"733\" \/><\/p>\n<p>\u5728\u201cdemo01_param_set.cpp\u201d\u4e2d\u6dfb\u52a0\u5982\u4e0b\u4ee3\u7801\u6765\u5b9e\u73b0\u53c2\u6570\u7684\u65b0\u589e<\/p>\n<p>#include &#034;ros\/ros.h&#034;<\/p>\n<p>\/*<br \/>\n\u9700\u6c42&#xff1a;<br \/>\n    \u5b9e\u73b0\u53c2\u6570\u7684\u65b0\u589e<br \/>\n\u5b9e\u73b0&#xff1a;<br \/>\n    ros::NodeHandle.setParam()<br \/>\n    ros::param.set()<br \/>\n*\/<\/p>\n<p>int main(int argc, char *argv[])<br \/>\n{<br \/>\n    \/\/ \u521d\u59cb\u5316ROS\u8282\u70b9<br \/>\n    ros::init(argc, argv, &#034;set_param_c&#034;);<\/p>\n<p>    \/\/ \u521b\u5efaROS\u8282\u70b9\u53e5\u67c4<br \/>\n    ros::NodeHandle nh;<\/p>\n<p>    \/\/ \u53c2\u6570\u589e\u52a0<br \/>\n    \/\/ \u65b9\u5f0f1<br \/>\n    nh.setParam(&#034;type&#034;, &#034;type1&#034;);<br \/>\n    nh.setParam(&#034;radius&#034;, 0.15);<\/p>\n<p>    \/\/ \/\/ \u65b9\u5f0f2<br \/>\n    \/\/ ros::param::set(&#034;type&#034;, &#034;type1&#034;);<br \/>\n    \/\/ ros::param::set(&#034;radius&#034;, 0.15);<\/p>\n<p>    return 0;<br \/>\n} <\/p>\n<p>\u6253\u5f00\u529f\u80fd\u5305\u4e0b\u7684\u201cCMakeLists.txt\u201d&#xff0c;\u6dfb\u52a0\u5982\u4e0b\u90e8\u5206<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"651\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-6889174814247.png\" width=\"602\" \/><\/p>\n<p>Ctrl&#043;Shift&#043;B\u7f16\u8bd1\u4e00\u4e0b&#xff0c;\u7136\u540e\u5f00\u542f3\u4e2a\u7ec8\u7aef\u7a97\u53e3\u5206\u522b\u7528\u4e8e\u542f\u52a8ROS\u6838\u5fc3\u3001\u542f\u52a8ROS\u8282\u70b9\u3001\u67e5\u770b\u53c2\u6570<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"568\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-688917482c963.png\" width=\"1052\" \/><\/p>\n<p>roscore  \/\/ \u542f\u52a8ROS\u6838\u5fc3<\/p>\n<p>source .\/devel\/setup.bash<br \/>\nrosrun plumbing_param_server demo01_param_set  \/\/\u542f\u52a8ROS\u8282\u70b9<\/p>\n<p>rosparam list  \/\/\u5217\u51fa\u53c2\u6570<\/p>\n<p>\u5982\u679c\u60f3\u67e5\u8be2\u53c2\u6570\u7684\u503c&#xff0c;\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4<\/p>\n<p>rosparam get \u53c2\u6570\u540d <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"263\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-688917486f86c.png\" width=\"587\" \/><\/p>\n<h4 id=\"2.1.2%20%E4%BF%AE%E6%94%B9%E5%8F%82%E6%95%B0\" style=\"background-color:transparent\">2.1.2 \u4fee\u6539\u53c2\u6570<\/h4>\n<p>\u5982\u679c\u518d\u6b21\u8bbe\u7f6e\u76f8\u540c\u53c2\u6570\u540d&#xff0c;\u5c31\u4f1a\u8986\u76d6\u4e4b\u524d\u53c2\u6570\u540d\u5bf9\u5e94\u7684\u53c2\u6570\u503c<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"644\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-688917488284f.png\" width=\"851\" \/><\/p>\n<h4 id=\"2.1.3%20%E6%9F%A5%E8%AF%A2%E5%8F%82%E6%95%B0\">2.1.3 \u67e5\u8be2\u53c2\u6570<\/h4>\n<p>\u5728\u529f\u80fd\u5305\u7684src\u76ee\u5f55\u4e2d\u65b0\u521b\u5efa\u4e00\u4e2acpp\u6587\u4ef6&#xff0c;\u8fd9\u91cc\u547d\u540d\u4e3a\u201cdemo02_param_get.cpp\u201d\u00a0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"648\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-68891748b41c5.png\" width=\"343\" \/><\/p>\n<p>\u5728\u201cdemo02_param_get.cpp\u201d \u6dfb\u52a0\u5982\u4e0b\u4ee3\u7801&#xff0c;\u7528\u4e8e\u5c55\u793a\u5982\u4f55\u6267\u884c\u53c2\u6570\u7684\u76f8\u5173\u67e5\u8be2\u64cd\u4f5c<\/p>\n<p>#include &#034;ros\/ros.h&#034;<\/p>\n<p>\/*<br \/>\n\u9700\u6c42&#xff1a;\u5b9e\u73b0\u53c2\u6570\u7684\u67e5\u8be2<br \/>\n\u5b9e\u73b0&#xff1a;<br \/>\n    ros::NodeHandle<br \/>\n        .param(\u952e,\u9ed8\u8ba4\u503c)  \u5b58\u5728\u8fd9\u4e2a\u952e\u65b9\u6cd5\u8fd4\u56de\u5b58\u50a8\u7684\u503c&#xff0c;\u5426\u5219\u8fd4\u56de\u9ed8\u8ba4\u503c<br \/>\n        .getParam(\u952e,\u53d8\u91cf) \u5b58\u5728\u8fd9\u4e2a\u952e\u65b9\u6cd5\u8fd4\u56detrue\u5e76\u5c06\u5b58\u50a8\u7684\u503c\u8d4b\u503c\u7ed9\u53d8\u91cf&#xff0c;\u5426\u5219\u8fd4\u56defalse&#xff0c;\u4e14\u4e0d\u4e3a\u53d8\u91cf\u8d4b\u503c<br \/>\n        .getparamCached(\u952e&#xff0c;\u53d8\u91cf)  \u548c.getParam\u57fa\u672c\u4e00\u6837<br \/>\n        .getParamNames(td::vector&lt;std::string&gt;)  \u83b7\u53d6\u6240\u6709\u7684\u952e\u5e76\u5b58\u50a8\u5728vector\u4e2d<br \/>\n        .hasParam(\u952e) \u5224\u65ad\u662f\u5426\u5b58\u5728\u67d0\u4e2a\u952e&#xff0c;\u5b58\u5728\u8fd4\u56detrue&#xff0c;\u5426\u5219\u8fd4\u56defalse<br \/>\n        .searchParam(\u952e&#xff0c;\u53d8\u91cf)   \u80fd\u591f\u641c\u7d22\u5230\u5c31\u5c06\u201c\/\u201d&#043;\u952e\u540d\u8d4b\u503c\u7ed9\u53d8\u91cf&#xff0c;\u5426\u5219\u5c06\u7a7a\u5b57\u7b26\u4e32\u8d4b\u7ed9\u53d8\u91cf<br \/>\n    ros::param<br \/>\n*\/<\/p>\n<p>int main(int argc, char *argv[])<br \/>\n{<br \/>\n    setlocale(LC_ALL,&#034;&#034;);<\/p>\n<p>    \/\/ \u521d\u59cb\u5316ROS\u8282\u70b9<br \/>\n    ros::init(argc, argv, &#034;get_param_c&#034;);<\/p>\n<p>    \/\/ \u521b\u5efaROS\u8282\u70b9\u53e5\u67c4<br \/>\n    ros::NodeHandle nh;<\/p>\n<p>    \/\/ ros::NodeHandle<br \/>\n    \/\/ 1. param<br \/>\n    double radius &#061; nh.param(&#034;radius&#034;, 0.5);  \/\/\u67e5\u8be2\u53c2\u6570\u540d\u4e3a\u201cradius\u201d\u5bf9\u5e94\u7684\u503c&#xff0c;\u5982\u679c\u201cradius\u201d\u4e0d\u5b58\u5728\u8fd4\u56de0.5<br \/>\n    ROS_INFO(&#034;radius &#061; %.2f&#034;, radius);<\/p>\n<p>    \/\/ 2. getParam<br \/>\n    double radius2 &#061; 0.0;<br \/>\n    bool result &#061; nh.getParam(&#034;radius&#034;, radius2);<br \/>\n    if (result){<br \/>\n        ROS_INFO(&#034;radius &#061; %.2f&#034;, radius2);<br \/>\n    }<\/p>\n<p>    \/\/ 3.getparamCached<\/p>\n<p>    \/\/ 4.getParamNames<br \/>\n    std::vector&lt;std::string&gt; names;<br \/>\n    nh.getParamNames(names);<br \/>\n    for (auto &amp;&amp;name : names)<br \/>\n    {<br \/>\n        ROS_INFO(&#034;\u904d\u5386\u7684\u5143\u7d20&#xff1a;%s&#034;, name.c_str());<br \/>\n    }<\/p>\n<p>    \/\/ 5.hasParam<br \/>\n    bool flag &#061; nh.hasParam(&#034;radius&#034;);<\/p>\n<p>    \/\/ 6.searchParam<br \/>\n    std::string key;<br \/>\n    nh.searchParam(&#034;radius&#034;, key);<br \/>\n    ROS_INFO(&#034;\u641c\u7d22\u7ed3\u679c&#xff1a;%s&#034;, key.c_str());<\/p>\n<p>    return 0;<br \/>\n} <\/p>\n<p>\u6253\u5f00\u529f\u80fd\u5305\u4e2d\u7684\u201cCMakeLists.txt\u201d&#xff0c;\u6dfb\u52a0\u5982\u4e0b\u90e8\u5206<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"683\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184736-68891748c5dba.png\" width=\"1218\" \/><\/p>\n<p>\u7f16\u8bd1\u4e00\u4e0b&#xff0c;\u8be5\u8282\u70b9\u6267\u884c\u6548\u679c\u5982\u4e0b&#xff1a;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"246\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184737-68891749354f7.png\" width=\"581\" \/><\/p>\n<h4 id=\"2.1.4%20%E5%88%A0%E9%99%A4%E5%8F%82%E6%95%B0\" style=\"background-color:transparent\">2.1.4 \u5220\u9664\u53c2\u6570<\/h4>\n<p>\u00a0\u5220\u9664\u53c2\u6570\u4e3b\u8981\u901a\u8fc7\u5982\u4e0b\u4e24\u79cd\u65b9\u5f0f\u5b9e\u73b0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"705\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184737-6889174948ccb.png\" width=\"1120\" \/><\/p>\n<p>#include &#034;ros\/ros.h&#034;<\/p>\n<p>\/*<br \/>\n\u5220\u9664\u53c2\u6570&#xff1a;<br \/>\n    \u5b9e\u73b0&#xff1a;<br \/>\n    ros::NodeHandle.delParam()<br \/>\n    ros::param.del()<\/p>\n<p>*\/<\/p>\n<p>int main(int argc, char *argv[])<br \/>\n{<br \/>\n    setlocale(LC_ALL,&#034;&#034;);<br \/>\n    ros::init(argc, argv, &#034;param_del_c&#034;);<\/p>\n<p>    ros::NodeHandle nh;<br \/>\n    bool flag &#061; nh.deleteParam(&#034;radius&#034;);<br \/>\n    if (flag){<br \/>\n        ROS_INFO(&#034;\u5220\u9664\u6210\u529f!&#034;);<br \/>\n    }else{<br \/>\n        ROS_INFO(&#034;\u5220\u9664\u5931\u8d25!&#034;);<br \/>\n    }<\/p>\n<p>    \/\/ ros::param::del(&#034;radius&#034;);<\/p>\n<p>    return 0;<br \/>\n} <\/p>\n<p>\u8fd0\u884c\u6548\u679c\u5982\u4e0b&#xff0c;\u53ef\u4ee5\u770b\u5230\u6210\u529f\u5220\u9664\u4e86\u201cradius\u201d\u53c2\u6570<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"519\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184737-68891749acd24.png\" width=\"1170\" \/><\/p>\n<h3 id=\"2.2%20python%E5%AE%9E%E7%8E%B0\">2.2 python\u5b9e\u73b0<\/h3>\n<h4 id=\"2.2.1%20%E6%96%B0%E5%A2%9E%E5%8F%82%E6%95%B0\">2.2.1 \u65b0\u589e\u53c2\u6570<\/h4>\n<p>\u5728\u529f\u80fd\u5305\u4e2d\u6dfb\u52a0\u4e00\u4e2a\u201cscripts\u201d\u76ee\u5f55\u00a0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"584\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184738-6889174a0dfcd.png\" width=\"555\" \/><\/p>\n<p>\u5728\u201cscripts\u201d\u76ee\u5f55\u6dfb\u52a0\u4e00\u4e2apython\u6587\u4ef6&#xff0c;\u7528\u4e8e\u65b0\u589e\u53c2\u6570<\/p>\n<p>#! \/usr\/bin\/env python<br \/>\n# -*- coding: utf-8 -*-<\/p>\n<p>import rospy<\/p>\n<p>if __name__ &#061;&#061; &#034;__main__&#034;:<br \/>\n    rospy.init_node(&#034;param_set_py&#034;)<\/p>\n<p>    rospy.set_param(&#034;name&#034;, &#034;czc&#034;)<br \/>\n    rospy.set_param(&#034;age&#034;, 18) <\/p>\n<p>\u5728\u201cCMakeLists.txt\u201d\u4e2d\u6dfb\u52a0\u5982\u4e0b\u90e8\u5206<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"648\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184738-6889174a2bf37.png\" width=\"1165\" \/><\/p>\n<p>\u4e3apython\u6587\u4ef6\u6dfb\u52a0\u53ef\u6267\u884c\u6743\u9650<\/p>\n<p>chmod &#043;x *.py <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"218\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184738-6889174abbbec.png\" width=\"754\" \/><\/p>\n<p>\u53ef\u4ee5\u770b\u5230\u6210\u529f\u6dfb\u52a0\u4e86\u4e24\u4e2a\u53c2\u6570<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"680\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184738-6889174ad071e.png\" width=\"1153\" \/><\/p>\n<h4 id=\"2.2.2%20%E4%BF%AE%E6%94%B9%E5%8F%82%E6%95%B0\">2.2.2 \u4fee\u6539\u53c2\u6570<\/h4>\n<p>\u53ea\u9700\u91cd\u65b0\u8bbe\u7f6e\u4e00\u4e0b\u76f8\u540c\u952e\u540d\u7684\u53c2\u6570&#xff0c;\u90a3\u4e48\u53c2\u6570\u503c\u5c31\u4f1a\u88ab\u91cd\u65b0\u8986\u76d6\u00a0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"422\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184739-6889174b51065.png\" width=\"814\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"458\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184739-6889174b806c5.png\" width=\"1154\" \/><\/p>\n<h4 id=\"2.2.3%20%E6%9F%A5%E8%AF%A2%E5%8F%82%E6%95%B0\">2.2.3 \u67e5\u8be2\u53c2\u6570<\/h4>\n<p>\u53c2\u6570\u67e5\u8be2\u53ef\u901a\u8fc7\u5982\u4e0b\u65b9\u6cd5\u5b9e\u73b0<\/p>\n<p>1. get_param<\/p>\n<p>2. get_param_cached<\/p>\n<p>3. get_param names<\/p>\n<p>4. has_param<\/p>\n<p>5. search param<\/p>\n<p>\u793a\u4f8b&#xff1a;<\/p>\n<p>import rospy<\/p>\n<p>if __name__ &#061;&#061; &#034;__main__&#034;:<br \/>\n    rospy.init_node(&#039;param_example_node&#039;)<\/p>\n<p>    # 1. get_param &#8211; \u83b7\u53d6\u53c2\u6570\u503c&#xff0c;\u652f\u6301\u9ed8\u8ba4\u503c<br \/>\n    name1 &#061; rospy.get_param(&#039;name&#039;, &#039;default_name&#039;)<br \/>\n    print(f&#034;Name1: {name1}&#034;)<\/p>\n<p>    # 2. get_param_cached &#8211; \u7f13\u5b58\u53c2\u6570\u503c&#xff0c;\u51cf\u5c11RPC\u8c03\u7528<br \/>\n    name2 &#061; rospy.get_param_cached(&#039;name&#039;, &#039;default_name&#039;)<br \/>\n    print(f&#034;Name2: {name2}&#034;)<\/p>\n<p>    # 3. get_param_names &#8211; \u83b7\u53d6\u6240\u6709\u53c2\u6570\u540d\u79f0<br \/>\n    all_params &#061; rospy.get_param_names()<br \/>\n    for param in all_params:<br \/>\n        print(f&#034;param: &#8211; {param}&#034;)<\/p>\n<p>    # 4. has_param &#8211; \u68c0\u67e5\u53c2\u6570\u662f\u5426\u5b58\u5728<br \/>\n    has_name &#061; rospy.has_param(&#039;name&#039;)<br \/>\n    print(f&#034;Has Param: {has_name}&#034;)<\/p>\n<p>    # 5. search_param<br \/>\n    key &#061; rospy.search_param(&#039;name&#039;)<br \/>\n    rospy.loginfo(&#034;key &#061; %s&#034;, key)<\/p>\n<p>    rospy.spin() <\/p>\n<p>\u6267\u884c\u6548\u679c\u5982\u4e0b&#xff1a;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"273\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250729184739-6889174bbe1c8.png\" width=\"587\" \/><\/p>\n<h4 id=\"2.2.4%20%E5%88%A0%E9%99%A4%E5%8F%82%E6%95%B0\">2.2.4 \u5220\u9664\u53c2\u6570<\/h4>\n<p>rospy.delete_param(&#034;Key&#034;)<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb850\u6b21\uff0c\u70b9\u8d5e19\u6b21\uff0c\u6536\u85cf12\u6b21\u3002\u6458\u8981\uff1a\u672c\u6587\u4ecb\u7ecd\u4e86ROS\u53c2\u6570\u670d\u52a1\u5668\u7684\u6982\u5ff5\u3001\u4f5c\u7528\u4e0e\u64cd\u4f5c\u5b9e\u73b0\uff0c\u64cd\u4f5c\u5305\u62ec\u5728C++\u548cPython\u4e2d\u5b9e\u73b0\u53c2\u6570\u7684\u589e\u5220\u6539\u67e5_ros1 \u53c2\u6570\u7684\u4f7f\u7528<\/p>\n","protected":false},"author":2,"featured_media":46276,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[1966],"topic":[],"class_list":["post-46294","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-ros"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - 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