ROS环境读写yaml文件以及数组操作

利用yaml-cpp读写yaml配置文件

1. cmake文件 target_link_libraries 加入yaml-cpp库
2. 在对应头文件中添加

#include <yaml-cpp/yaml.h>

#include <fstream>

参考连接 https://blog.csdn.net/briblue/article/details/89515470/

特殊Demo 读取yaml文件中数组

利用ROS自带的XmlRpc::XmlRpcValue实现一维数组或者二位数组等类似json数据的读取

C++代码实现如下

  XmlRpc::XmlRpcValue scanner_params;
  nh.getParam("scanners", scanner_params);
  for(size_t i = 0; i<scanner_params.size(); ++i)
  {
    const String& server_ip     = scanner_params[i]["server_ip"];
    const int&    server_port   = scanner_params[i]["server_port"];
    const String& frame_id      = scanner_params[i]["frame_id"];
    const String& pub_topic     = scanner_params[i]["pub_topic"];
  }

Yaml文件中数据如下

scanners: 
- { pub_topic: "scan_head", frame_id: "laser_scanner_link_head",server_ip: "192.168.167.100",server_port: 2111}
- { pub_topic: "scan_middle",frame_id: "laser_scanner_link_middle",server_ip: "192.168.167.101",server_port: 2111}
- {pub_topic: "scan_tail",frame_id: "laser_scanner_link_tail",server_ip: "192.168.167.102",server_port: 2111}

在launch文件中加载yaml参数文件，即可在程序中读取