2.Listener

通信过程新建参数服务器包编写测试文件修改cmakelist:搭配launch文件启动测试及结果

1.Talker

integersbooleansstringsdoublesiso8601

binary

{//使得中文可以生效setlocale(LC_ALL,);ros::init(argc,argv,set_update_param);std::vectorstd::string

stus;stus.push_back(这是元素1);stus.push_back(这是元素2);std::mapstd::string,std::string

friends;friends[key]

value;ros::param::set(param_int,20);ros::param::set(param_double,3.14);ros::param::set(param_string,Hello

Param);ros::param::set(param_bool,false);ros::param::set(param_vector,stus);ros::param::set(param_map,friends);//修改演示(相同的键不同的值)ros::param::set(param_int,20000);//

getParam

param_string_value;std::vectorstd::string

param_stus;std::mapstd::string,

std::string

param_friends;ros::param::get(param_int,param_int_value);ros::param::get(param_double,param_double_value);ros::param::get(param_bool,param_bool_value);ros::param::get(param_string,param_string_value);ros::param::get(param_vector,param_stus);ros::param::get(param_map,param_friends);ROS_INFO(getParam获取的结果:%d,%.2f,%s,%d,param_int_value,param_double_value,param_string_value.c_str(),param_bool_value);for

(auto

首次调用getCached这里会订阅参数值通过缓存获取数据当数据变化时将通知节点自动更新ros::param::getCached(param_int,param_int_value);ROS_INFO(通过缓存获取数据:%d,param_int_value);//输出所有的变量名std::vectorstd::string

param_names2;ros::param::getParamNames(param_names2);for

(auto

param_names2){ROS_INFO(名称解析name

%s,name.c_str());

}ROS_INFO(----------------------------);ROS_INFO(存在

param_int

%d,ros::param::has(param_int));ROS_INFO(存在

param_intttt

%d,ros::param::has(param_intttt));std::string

key;ros::param::search(param_int,key);ROS_INFO(搜索键:%s,key.c_str());//删除相关的参数bool

ros::param::del(param_int);ROS_INFO(param

删除结果:%d,r2);return

add_executable(${PROJECT_NAME}_node

target_link_libraries(${PROJECT_NAME}_node${catkin_LIBRARIES}

)搭配launch文件

/roslaunch/uris/host_yisu_64fc150f8284e__34167

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/roslaunch/uris/host_yisu_64fc150f8284e__41769

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/roslaunch/uris/host_yisu_64fc150f8284e__45931

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/roslaunch/uris/host_yisu_64fc150f8284e__45545

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/roslaunch/uris/host_yisu_64fc150f8284e__44877

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/roslaunch/uris/host_yisu_64fc150f8284e__42835

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/roslaunch/uris/host_yisu_64fc150f8284e__46297

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/roslaunch/uris/host_yisu_64fc150f8284e__41351

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/roslaunch/uris/host_yisu_64fc150f8284e__43881

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/roslaunch/uris/host_yisu_64fc150f8284e__43899

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/roslaunch/uris/host_yisu_64fc150f8284e__34115

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/roslaunch/uris/host_yisu_64fc150f8284e__39145

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/roslaunch/uris/host_yisu_64fc150f8284e__43455

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/roslaunch/uris/host_yisu_64fc150f8284e__33051

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/roslaunch/uris/host_yisu_64fc150f8284e__35169

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/roslaunch/uris/host_yisu_64fc150f8284e__46493

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/roslaunch/uris/host_yisu_64fc150f8284e__39659

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