ros2 run传递参数的格式-编程知识

ros2 run传递参数的格式

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel #这个只能用于重命名节点名称

可以用以下语法直接从命令行中设置参数：

这里很清楚看出来ros2 run name exec --ros-args -p param:=value中的parma指的是ros2内部的参数，不一定是从命令行传递到可执行文件的参数。但是我又觉得那个传入参数一定包含在这个格式里面，因为没有其他的格式了，因该就是用这个方式传入参数的

ros2 run package_name executable_name --ros-args -p param_name:=param_value

下面这个示例可以运行命令：

ros2 run demo_nodes_cpp parameter_blackboard --ros-args -p some_int:=42 -p "a_string:=Hello world" -p "some_lists.some_integers:=[1, 2, 3, 4]" -p "some_lists.some_doubles:=[3.14, 2.718]"

///这个参数是ros2参数服务器的那个参数，不是传递给可执行文件的参数

7 Load parameter file on node startup

To start the same node using your saved parameter values, use:

ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

This is the same command you always use to start turtlesim, with the added flags --ros-args and --params-file, followed by the file you want to load.

Stop your running turtlesim node, and try reloading it with your saved parameters, using:

ros2 run turtlesim turtlesim_node --ros-args --params-file turtlesim.yaml

The turtlesim window should appear as usual, but with the purple background you set earlier.

格式: ros2 run [-h] [--prefix PREFIX] package_name executable_name ...

Run a package specific executable

positional arguments:
package_name Name of the ROS package
executable_name Name of the executable
argv Pass arbitrary arguments to the executable

options:
-h, --help show this help message and exit
--prefix PREFIX Prefix command, which should go before the executable. Command must be wrapped in quotes if it contains spaces (e.g. --prefix 'gdb -ex run --args').