ROS dynamic parameter configuration: use of dynparam command line tool (example + code)

dynparam Use of command line tools

The format used by the command line tool ：rosrun dynamic_reconfigure dynparam COMMAND, There are... Orders 6 individual , The format is as follows ：

1. List dynamic node names

 2. Dynamic configuration of parameters ——set_from_parameters

The command format is ：set_from_parameters Dynamic node name _ Parameter name := Parameter values （ Remember to underline the parameter name ！）

3. Dynamic configuration of parameters ——set

Its functions and functions set_from_parameters equally , It's just that the calling format has changed , The command format is as follows ：

 Set Dynamic node name Parameter name Parameter values

4. Parameter acquisition ——get

Command format ：get Dynamic node name

All parameter names and parameter values under the dynamic node can be obtained .

5. Packaging for .yaml Format ——dump

The command format is ：dump Dynamic node name .yaml The absolute address of the file

6. load .yaml File format ——load

The command format is ：load Dynamic node name .yaml The absolute address of the file

To see .yaml The absolute address of , Put the file directly “ Right click ”, And then click “ Open... At the integration terminal ”, Then type on the command line “pwd”, You can get the absolute address of the file .