[ROS] 动态调参基础教学

本是古典何须时尚 2023-01-03 01:27 150阅读 0赞

### 参考: ###

[http://wiki.ros.org/dynamic\_reconfigure/Tutorials/HowToWriteYourFirstCfgFile][http_wiki.ros.org_dynamic_reconfigure_Tutorials_HowToWriteYourFirstCfgFile]

[http://wiki.ros.org/dynamic\_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode%28cpp%29][http_wiki.ros.org_dynamic_reconfigure_Tutorials_SettingUpDynamicReconfigureForANode_28cpp_29]

### 1.创建工作空间,功能包 ###

#创建工作空间
    mkdir catkin_ws
    mkdir catkin_ws/src
    cd catkin_ws/src
    catkin_init_workspace
    
    #创建功能包
    cd catkin_ws/src
    catkin_create_pkg --rosdistro ROSDISTRO ROS_Test1 rospy roscpp dynamic_reconfigure

### 2.创建cfg文件 ###

touch ROS\_Test1\_cfg.cfg

#!/usr/bin/env python
    PACKAGE = "ROS_Test1"
    
    from dynamic_reconfigure.parameter_generator_catkin import *
    
    gen = ParameterGenerator()
    
    gen.add("int_param", int_t, 0, "int parameter", 1, 0, 10);
    gen.add("double_param", double_t, 0, "double parameter", .1, 0.0, 1.0);
    gen.add("bool_param", bool_t, 0, "bool parameter", True);
    gen.add("str_param", str_t, 0, "string parameter", "ROS_Test1");
    
    size_enum = gen.enum([ gen.const("Low",      int_t, 0, "Low is 0"),
                           gen.const("Medium",     int_t, 1, "Medium is 1"),
                           gen.const("High",      int_t, 2, "Hight is 2")],
                         "Select from the list")
    
    gen.add("size", int_t, 0, "Select from the list", 1, 0, 3, edit_method=size_enum)
    
    exit(gen.generate(PACKAGE, "ROS_Test1", "Test1_"))

### 3.创建节点 ###

touch node\_e.cpp

#include "ros/ros.h"
    #include <dynamic_reconfigure/server.h>
    #include <ROS_Test1/Test1_Config.h>
    
    void callback(ROS_Test1::Test1_Config &config, uint32_t level)
    {
            ROS_INFO("Reconfigure Request: %d %f %s %s %d",
                    config.int_param,
                    config.double_param,
                    config.str_param.c_str(),
                    config.bool_param?"True":"False",
                    config.size);
    }
    
    int main(int argc, char **argv)
    {
            ros::init(argc, argv, "node_e_dynamic_reconfigure");
            dynamic_reconfigure::Server<ROS_Test1::Test1_Config> server;
            dynamic_reconfigure::Server<ROS_Test1::Test1_Config>::CallbackType f;
            f = boost::bind(&callback, _1, _2);
            server.setCallback(f);
            ros::spin();
            return 0;
    }

### 4.CmakeList文件 ###

在Cmakelist中添加一下几句,其中cfg文件名和.cpp文件可自由更改

generate_dynamic_reconfigure_options(
       cfg/ROS_Test1_cfg.cfg
     )
    
    add_executable(node_e src/node_e.cpp)
    add_dependencies(node_e ${PROJECT_NAME}_gencfg)
    
    target_link_libraries(node_e ${catkin_LIBRARIES})

改完后编译

### 5.运行 ###

roscoe
    #其结点
    rosrun ROS_Test1 node_e
    #起rqt
    rosrun rqt_reconfigure rqt_reconfigure

可通过rqt调节

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70][]

可通过命令行调节

$ rosparam list
    /node_e_dynamic_reconfigure/bool_param
    /node_e_dynamic_reconfigure/double_param
    /node_e_dynamic_reconfigure/int_param
    /node_e_dynamic_reconfigure/size
    /node_e_dynamic_reconfigure/str_param
    /rosdistro
    /roslaunch/uris/host_172_20_10_4__42553
    /rosversion
    /run_id
    
    $ rosparam get /node_e_dynamic_reconfigure/double_param 
    0.1
    
    $ rosparam set /node_e_dynamic_reconfigure/double_param 0.3
    
    $ rosparam get /node_e_dynamic_reconfigure/double_param 
    0.3

[http_wiki.ros.org_dynamic_reconfigure_Tutorials_HowToWriteYourFirstCfgFile]: http://wiki.ros.org/dynamic_reconfigure/Tutorials/HowToWriteYourFirstCfgFile
[http_wiki.ros.org_dynamic_reconfigure_Tutorials_SettingUpDynamicReconfigureForANode_28cpp_29]: http://wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode%28cpp%29
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NrNzg0MTAxNzc3_size_16_color_FFFFFF_t_70]: /images/20221119/86ca57bd37c04127ac30d0e74ed7e478.png