ros之动态配置参数

目录

• 1. 编写.cfg文件
• 2. 使用.cfg文件
• 3. 在.cpp文件中加入
• 4. 运行
• 参考

1. 编写.cfg文件

在ros功能包文件夹下，新建cfg文件夹， 在cfg文件夹下新建Tutorials.cfg文件

cd rosbag 
mkdir cfg
touch cfg/Tutorials.cfg

Tutorials.cfg文件示例：

#!/usr/bin/env python
PACKAGE = "dynamic_tutorials"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
gen.add("double_param", double_t, 0, "A double parameter",    .5, 0,   1)
gen.add("str_param",    str_t,    0, "A string parameter",  "Hello World")
gen.add("bool_param",   bool_t,   0, "A Boolean parameter",  True)

size_enum = gen.enum([ gen.const("Small",      int_t, 0, "A small constant"),
                       gen.const("Medium",     int_t, 1, "A medium constant"),
                       gen.const("Large",      int_t, 2, "A large constant"),
                       gen.const("ExtraLarge", int_t, 3, "An extra large constant")],
                     "An enum to set size")

gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)

exit(gen.generate(PACKAGE, "dynamic_tutorials", "Tutorials"))

• name - a string which specifies the name under which this parameter should be stored
• type - defines the type of value stored, and can be any of int_t, double_t, str_t, or bool_t
• level - A bitmask which will later be passed to the dynamic reconfigure callback. When the callback is called all of the level values for parameters that have been changed are ORed together and the resulting value is passed to the callback.
• description - string which describes the parameter
• default - specifies the default value
• min - specifies the min value (optional and does not apply to strings and bools)
• max - specifies the max value (optional and does not apply to strings and bools)
  注： gen.enum用于生成枚举参数

2. 使用.cfg文件

chmod a+x cfg/Tutorials.cfg

在CMakeLists.txt下添加以下命令

#add dynamic reconfigure api
find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
  cfg/Tutorials.cfg
  #...
)

# make sure configure headers are built before any node using them
add_dependencies(example_node ${PROJECT_NAME}_gencfg)

3. 在.cpp文件中加入

#include <ros/ros.h>

#include <dynamic_reconfigure/server.h>
#include <dynamic_tutorials/TutorialsConfig.h>

void callback(dynamic_tutorials::TutorialsConfig &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, "dynamic_tutorials");

  dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig> server;
  dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig>::CallbackType f;

  f = boost::bind(&callback, _1, _2);
  server.setCallback(f);

  ROS_INFO("Spinning node");
  ros::spin();
  return 0;
}

注： 参数来配置文件的头文件路径为：package_name/file_name+"Config.h"
注： 在callback函数中进行参数赋值操作。

4. 运行

rosrun rqt_reconfigure rqt_reconfigure

参考

dynamic_reconfigure - ROS Wiki