ros2 parameters

c++

#include <rclcpp/rclcpp.hpp>
#include <rcl_interfaces/msg/set_parameters_result.hpp>
#include <string>
#include <vector>

using std::placeholders::_1;

class SimpleParameter: public rclcpp::Node
{
public:
    SimpleParameter():Node("simple_parameter")
    {
        declare_parameter<int>("simple_int_param",28);
        declare_parameter<std::string>("simple_str_param","string param");
        //在C++中，非静态成员函数需要通过类名限定，并且需要显式传递this指针作为上下文。
        param_callback_handle_  = add_on_set_parameters_callback(std::bind(&SimpleParameter::param_callback, this, _1));
    }
    private:
    OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
    rcl_interfaces::msg::SetParametersResult param_callback(const std::vector<rclcpp::Parameter> &params)
    {
        rcl_interfaces::msg::SetParametersResult result;
        for (auto &&param : params)
        {
            if (param.get_name()=="simple_int_param"&&param.get_type()==rclcpp::ParameterType::PARAMETER_INTEGER)
            {
                RCLCPP_INFO_STREAM(get_logger(), "param simple_int_param changed "<<param.as_int());
                result.successful=true;
            }
             if (param.get_name()=="simple_str_param"&&param.get_type()==rclcpp::ParameterType::PARAMETER_STRING)
            {
                RCLCPP_INFO_STREAM(get_logger(), "param simple_str_param changed "<< param.as_string()<< std::endl);
                result.successful=true;
            }
            
        }
        return result;
    }
};

int main(int argc, char* argv[])
{
    rclcpp::init(argc,argv);
    auto node = std::make_shared<SimpleParameter>();
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

调试, 双击tab显示

ros2 run arduinobot_cpp_example simple_parameter --ros-args -p simple_int_param:=37
ros2 param set /simple_parameter simple_str_param "oooooooooooo"