目录
一、参数服务器的新增、修改参数
1、API
参数服务器操作之新增与修改(二者API一样)_Python实现
2、代码
python
import rospy
if __name__ == "__main__":
rospy.init_node("set_update_paramter_p")
# 设置各种类型参数
rospy.set_param("p_int",10)
rospy.set_param("p_double",3.14)
rospy.set_param("p_bool",True)
rospy.set_param("p_string","hello python")
rospy.set_param("p_list",["hello","haha","xixi"])
rospy.set_param("p_dict",{"name":"hulu","age":8})
# 修改
rospy.set_param("p_int",100)二、参数服务器获取参数
1、API
参数服务器操作之查询_Python实现:
get_param(键,默认值)
当键存在时，返回对应的值，如果不存在返回默认值
get_param_cached
get_param_names
has_param
search_param
2、代码
python
import rospy
if __name__ == "__main__":
rospy.init_node("get_param_p")
#获取参数
int_value = rospy.get_param("p_int",10000)
double_value = rospy.get_param("p_double")
bool_value = rospy.get_param("p_bool")
string_value = rospy.get_param("p_string")
p_list = rospy.get_param("p_list")
p_dict = rospy.get_param("p_dict")
rospy.loginfo("获取的数据:%d,%.2f,%d,%s",
int_value,
double_value,
bool_value,
string_value)
for ele in p_list:
rospy.loginfo("ele = %s", ele)
rospy.loginfo("name = %s, age = %d",p_dict["name"],p_dict["age"])
# get_param_cached
int_cached = rospy.get_param_cached("p_int")
rospy.loginfo("缓存数据:%d",int_cached)
# get_param_names
names = rospy.get_param_names()
for name in names:
rospy.loginfo("name = %s",name)
rospy.loginfo("-"*80)
# has_param
flag = rospy.has_param("p_int")
rospy.loginfo("包含p_int吗？%d",flag)
# search_param
key = rospy.search_param("p_int")
rospy.loginfo("搜索的键 = %s",key)三、参数服务器删除参数
1、API
参数服务器操作之删除_Python实现:
rospy.delete_param("键")
键存在时，可以删除成功，键不存在时，会抛出异常
2、代码
python
import rospy
if __name__ == "__main__":
rospy.init_node("delete_param_p")
try:
rospy.delete_param("p_int")
except Exception as e:
rospy.loginfo("删除失败")