킴 rosparam server

turtlesim 배경 색 바꾸기

kw-cobot@kwcobot-HGDT-Series:~$ rosparam list
/rosapi/params_glob
/rosapi/services_glob
/rosapi/topics_glob
/rosbridge_websocket/actual_port
/rosbridge_websocket/address
/rosbridge_websocket/authenticate
/rosbridge_websocket/bson_only_mode
/rosbridge_websocket/delay_between_messages
/rosbridge_websocket/fragment_timeout
/rosbridge_websocket/max_message_size
/rosbridge_websocket/params_glob
/rosbridge_websocket/port
/rosbridge_websocket/retry_startup_delay
/rosbridge_websocket/services_glob
/rosbridge_websocket/topics_glob
/rosbridge_websocket/unregister_timeout
/rosbridge_websocket/use_compression
/rosbridge_websocket/websocket_external_port
/rosbridge_websocket/websocket_ping_interval
/rosbridge_websocket/websocket_ping_timeout
/rosdistro
/roslaunch/uris/host_kwcobot_hgdt_series__43503
/rosversion
/run_id
/turtlesim/background_b
/turtlesim/background_g
/turtlesim/background_r

 

kw-cobot@kwcobot-HGDT-Series:~$ rosparam get /turtlesim/background_r 255

kw-cobot@kwcobot-HGDT-Series:~$ rosparam get /turtlesim/background_r
255

 

 

 

kw-cobot@kwcobot-HGDT-Series:~$ rosparam set /turtlesim/background_b 50
kw-cobot@kwcobot-HGDT-Series:~$ rosparam get /turtlesim/background_b  
50

kw-cobot@kwcobot-HGDT-Series:~$ rosservice call /reset

 

 

parameter server에 등록하거나 값을 받아올 수 있다.

 

대신 launch 파일 값을 바꿀 수 있다.

 

뒤로 갈수록 launch파일을 수정해서 테스트하는 작업을 많이 할 것임.

터미널에서 how 런치파일에 접근할 지 배워보자.

 

kw-cobot@kwcobot-HGDT-Series:~$ roslaunch scout_sim_launch simulater.launch 

아래를 보면

SUMMARY
========

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 0.0.0.0
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 9090
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: melodic
 * /rosversion: 1.14.12

파라미터를 보여주고

노드를 쭉 보여준다.

NODES
  /
    base_link_to_camera (tf/static_transform_publisher)
    base_link_to_imu (tf/static_transform_publisher)
    base_link_to_laser (tf/static_transform_publisher)
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)

그 아래는 프로세스 진행 상태를 보여준다.

 

kw-cobot@kwcobot-HGDT-Series:~$ rosparam list
/rosapi/params_glob
/rosapi/services_glob
/rosapi/topics_glob
/rosbridge_websocket/actual_port
/rosbridge_websocket/address
/rosbridge_websocket/authenticate
/rosbridge_websocket/bson_only_mode
/rosbridge_websocket/delay_between_messages
/rosbridge_websocket/fragment_timeout
/rosbridge_websocket/max_message_size
/rosbridge_websocket/params_glob
/rosbridge_websocket/port
/rosbridge_websocket/retry_startup_delay
/rosbridge_websocket/services_glob
/rosbridge_websocket/topics_glob
/rosbridge_websocket/unregister_timeout
/rosbridge_websocket/use_compression
/rosbridge_websocket/websocket_external_port
/rosbridge_websocket/websocket_ping_interval
/rosbridge_websocket/websocket_ping_timeout
/rosdistro
/roslaunch/uris/host_kwcobot_hgdt_series__41299
/roslaunch/uris/host_kwcobot_hgdt_series__43503
/rosversion
/run_id
/turtlesim/background_b
/turtlesim/background_g
/turtlesim/background_r

를 직접 수정하는 방법을 배워보자

 

 

<launch>
	<!-- rosrun turtlesim turtlesim_node-->
	<node name="a" pkg="turtlesim" type="turtlesim_node"/>
	<node name="b" pkg="turtlesim" type="turtlesim_node"/>
	<!--rosrun scout_sim_launch twist_pub.py-->
	<!--<node />-->
</launch>

 

kw-cobot@kwcobot-HGDT-Series:~$ roslaunch scout_sim_launch turtlesim.launch 
... logging to /home/kw-cobot/.ros/log/7e99fd8c-9aca-11ec-955f-04d4c4919854/roslaunch-kwcobot-HGDT-Series-4882.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/kw-cobot/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://kwcobot-HGDT-Series:34315/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    a (turtlesim/turtlesim_node)
    b (turtlesim/turtlesim_node)

ROS_MASTER_URI=http://localhost:11311

process[a-1]: started with pid [4897]
process[b-2]: started with pid [4898]
[ INFO] [1646295910.266705958]: Starting turtlesim with node name /b
[ INFO] [1646295910.269779841]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

 

 

<launch>
	<!-- rosrun turtlesim turtlesim_node-->
	<node name="a" pkg="turtlesim" type="turtlesim_node" output="log"/>
	<node name="b" pkg="turtlesim" type="turtlesim_node" output="screen"/>
	<!--rosrun scout_sim_launch twist_pub.py-->
	<!--<node />-->
</launch>

터미널에 출력되는 것이 screen

log 형태로 출력됨

 

log 로 출력되는 값은 rqt_console로 볼 수 있다.

 

---

<launch>
	<!-- rosrun turtlesim turtlesim_node-->
	<node name="turtlesim" pkg="turtlesim" type="turtlesim_node" output="log"/>
	<!--rosrun scout_sim_launch twist_pub.py-->
	<node name="mover" pkg="scout_sim_launch" type="twist_pub.py" />
</launch>

 

<launch>
	<!-- rosrun turtlesim turtlesim_node-->
	<node name="turtlesim" pkg="turtlesim" type="turtlesim_node" output="log"/>
	<!--rosrun scout_sim_launch twist_pub.py-->
	<node ns="turtle1" name="mover" pkg="scout_sim_launch" type="twist_pub.py" />
</launch>

통째로 모두 바꿔야 할 때는 namespace(ns) 값을 바꾸는 것이 맞지만

개별적으로 바꾸고 싶으면 remap을 걸어줘야 한다.

remap: 특정 문자열을 다른 문자열로 바꿔준다.

 

노드 안에다 쓰는 방법으로 쓰자.

<launch>
	<!-- rosrun turtlesim turtlesim_node-->
	<node name="turtlesim" pkg="turtlesim" type="turtlesim_node" output="log"/>
	<!--rosrun scout_sim_launch twist_pub.py-->
	<node ns="turtle1" name="mover" pkg="scout_sim_launch" type="twist_pub.py" >
		<remap from="cmd_vel" to="turtle1/cmd_vel" />
	</node>
</launch>

rqt_graph를 보면 remap은 특정 값만 바뀌었음을 알 수 있다.

 

 

 

 

---

 

터미널로 py 파일 변경할 때

물결을 꼭 넣어줘야 한다.

 

	def timer_CB(self, event):
		publishing_data = Twist()

		publishing_data.linear.x = rospy.get_param("~linear_speed", 1.0) # nodename/linear_speed
		publishing_data.linear.y = 0.0
		publishing_data.linear.z = 0.0

		publishing_data.angular.x = 0
		publishing_data.angular.y = 0
		publishing_data.angular.z = rospy.get_param("~angular_speed", 1.0) # ~ 표시 없을 시에는 angular_speed

kw-cobot@kwcobot-HGDT-Series:~$ rosparam set /mov/linear_speed 2.0
kw-cobot@kwcobot-HGDT-Series:~$ rosparam set /mover/angular_speed 2.0

 

이런 식으로 터미널로 바꿀 수 있다.

 

 

오픈된 소스 파일을 쓸 때 hector_slam 안에 launch 파일 안 파라미터 서버로 바꿀 수 있다.

launch 파일에 있는 parameter를 터미널로 수정할 수 있는 방법