ros之動態配置參數

目錄

• 1. 編寫.cfg文件
• 2. 使用.cfg文件
• 3. 在.cpp文件中加入
• 4. 運行
• 參考

1. 編寫.cfg文件

在ros功能包文件夾下，新建cfg文件夾， 在cfg文件夾下新建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用於生成枚舉參數

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： 參數來配置文件的頭文件路徑為：package_name/file_name+"Config.h"
注： 在callback函數中進行參數賦值操作。

4. 運行

rosrun rqt_reconfigure rqt_reconfigure

參考

dynamic_reconfigure - ROS Wiki