ROS中有如下3种获取参数的方式。
include "ros/ros.h"
#include <cstdlib>
using namespace std;
int main(int argc,char** argv)
{
//initial and name node
ros::init(argc,argv,"node_param");
if(argc!=2)
{
cout<<"Error command paramter! Please run command eg:\n"\
<<"rosrun book_param book_param 1\n"\
<<"help information:\n"\
<<" 1 ------ set param mode(ros::param::set())\n"\
<<" 2 ------ set param mode(ros::NodeHandle::setParam())\n"\
<<" 3 ------ get param mode(ros::param::get())\n"\
<<" 4 ------ get param mode(ros::NodeHandle::getParam())\n"\
<<" 5 ------ get param mode(ros::NodeHandle::param())\n"\
<<endl;
return 1;
}
//create node handle
ros::NodeHandle nh;
//param variable
int IntParam;
string StrParam;
bool isIntParam, isStrParam;
//mode flag
int flag = atoi(argv[1]);
// set or get param with different ways
switch(flag)
{
case 1:
ROS_INFO("set param mode(ros::param::set()):");
ros::param::set("IntParam",1);
ros::param::set("StrParam","stringdemo");
break;
case 2:
ROS_INFO("set param mode(ros::NodeHandle::setParam()):");
nh.setParam("IntParam",1);
nh.setParam("StrParam","stringdemo");
break;
case 3:
ROS_INFO("get param mode(ros::param::get()):");
isIntParam = ros::param::get("IntParam",IntParam);
isStrParam = ros::param::get("StrParam",StrParam);
if(isIntParam){
ROS_INFO("The IntParam is:%d",IntParam);
}else{
ROS_INFO("Get IntParam fail!");
}
if(isIntParam){
ROS_INFO("The StrParam is:%s",StrParam.c_str());
}else{
ROS_INFO("Get StrParam fail!");
}
break;
case 4:
ROS_INFO("get param mode(ros::NodeHandle::getParam()):");
isIntParam = nh.getParam("IntParam",IntParam);
isStrParam = nh.getParam("StrParam",StrParam);
if(isIntParam){
ROS_INFO("The IntParam is:%d",IntParam);
}else{
ROS_INFO("Get IntParam fail!");
}
if(isIntParam){
ROS_INFO("The StrParam is:%s",StrParam.c_str());
}else{
ROS_INFO("Get StrParam fail!");
}
break;
case 5:
ROS_INFO("get param mode(ros::NodeHandle::param()):");
//warning: this way will set default value when get no param!
nh.param("IntParam",IntParam,11);
// be careful when use ros::NodeHandle::param get string param!
nh.param<std::string>("StrParam",StrParam,"stringdemo_default");
ROS_INFO("\nThe IntParam is:%d\nThe StrParam is:%s",IntParam,StrParam.c_str());
break;
default:
ROS_INFO("flag value is not in range: [1,5]");
}
return 0;
}