ros读取params参数，读取 param.yaml

冷不防 2022-11-05 00:59 27阅读 0赞

<launch>
    <node pkg="visualOrientation" type="listenerCarBaselinkPose_node" name="listenerCarBaselinkPoseNode" respawn="false" output="screen"></node>
    <node pkg="visualOrientation" type="QRcodeOrlentationCalibration_node" name="go_to_the_marker" respawn="false" output="screen"></node>
    <node pkg="visualOrientation" type="carInEyeVerify_node" name="carInEyeVerify_node" respawn="false" output="screen"></node>
    
    <node pkg="visualOrientation" type="SendFoodCar_node" name="SendFoodCarNode" respawn="false" output="screen" >
    
     <rosparam file="$(find visualOrientation)/param/params.yaml" command="load" />
    </node>
    </launch>
    ---------------params.yaml-----------------
    tables:
      table1: 1桌
      table2: 2桌
      table3: 3桌
      table4: 4桌
      table5: 5桌
    
     /*-------------------------- param -------注意获取param数据是需要加node节点名字的-SendFoodCar_node------------------*/
        //获取所有的param
        //定义vector保存所有的param的名字
        vector<string> names;
        int waitGoalTime;//读取送餐的等待时间
        if(node->getParamNames(names)) {
            //排序
            sort(names.begin(),names.end());
            for(string name : names) {
                //读取每一桌 add_executable(SendFoodCar_node src/SendFoodCarMain.cpp src/SendFoodCarWindow.cpp src/SendFoodCarWindow.h)
    
                string str = "/SendFoodCarNode/tables";
                string::size_type idx = name.find( str );
    
                if ( idx != string::npos )
                {
                    show_console(QString::fromStdString(name),"get");
                    string value;
                    if (node->getParam(name, value)) {
                        show_console(QString::fromStdString(value),"get");
                        editFirst->addItem(QString::fromStdString(value));
                        editSecond->addItem(QString::fromStdString(value));
                        editThird->addItem(QString::fromStdString(value));
                    }
                }
    
                //读取送餐的等待时间
                string str2 = "SendFoodCarNode/waitGoalTime";
                string::size_type idx2 = name.find( str2 );
                if ( idx2 != string::npos )
                {
                    show_console(QString::fromStdString(name),"get");
                    string value;
                    if (node->getParam(name, waitGoalTime)) {
                        show_console(QString::number(waitGoalTime),"get");
                    }
                }
    
            }
        }