ROS ros::NodeHandle nh(“~“)

最新推荐文章于 2025-07-29 10:26:09 发布

一技绝尘nu

最新推荐文章于 2025-07-29 10:26:09 发布

阅读量5.2k

点赞数 17

CC 4.0 BY-SA版权

本文链接：https://blog.csdn.net/weixin_46146560/article/details/109520447

本文介绍ROS中如何使用全局和局部命名空间来获取参数，并通过示例代码展示了如何在节点中读取不同命名空间下的参数。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

@[TOC](ROS ros::NodeHandle nh("~"))
launch代码

<launch>
  <!--全局参数num-->
  <param name="num" value="5" />
  <node name="demo" pkg="demo" type="demo"
   output="screen">
    <!--局部参数num-->
    <param name="num" value="10" />
  </node>
</launch>

ros源码

#include <ros/ros.h>

int main(int argc, char* argv[])
{
    int number = -1;//number初始化
    ros::init(argc, argv, "demo");//node初始化
    /*创建命名空间*/
    //n 是全局命名空间
    ros::NodeHandle n;
    //nh 是局部命名空间
    ros::NodeHandle nh("~");
    /*全局命名空间下的Param*/
    ROS_INFO("global namespace");
    //提取全局命名空间下的参数num
    n.getParam("num", number);
    ROS_INFO("global_num was %d", number);
    //提取局部命名空间下的参数num
    n.getParam("demo/num", number);//在全局命名空间下，要提取局部命名空间下的参数，需要添加node name
    ROS_INFO("global_to_local_num was %d", number);
    /*局部命名空间下的Param*/
    ROS_INFO("local namespace");
    //提取局部命名空间下的参数num
    nh.getParam("num", number);
    ROS_INFO("local_num was %d", number);
    //提取全局命名空间下的参数num
    nh.getParam("/num", number);//在局部命名空间下，要提取全局命名空间下的参数，需要添加“/”
    ROS_INFO("local_to_global_num was %d", number);
    ros::spin();
    return 0;
}

输出结果
[ INFO] [1604560576.760508751]: global namespace
[ INFO] [1604560576.762715951]: global_num was 5
[ INFO] [1604560576.764537521]: global_to_local_num was 10
[ INFO] [1604560576.764597107]: local namespace
[ INFO] [1604560576.766529829]: local_num was 10
[ INFO] [1604560576.771342151]: local_to_global_num was 5