ros中move_group的参数动态设置-白红宇

ros中move_group的参数动态设置

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发布时间：2019-06-29

本文共 2795 字，大约阅读时间需要 9 分钟。

1、写一个配置文件 cfg/ElfinBasicAPIDynamicReconfigure.cfg

#!/usr/bin/env pythonPACKAGE = "elfin_basic_api"from dynamic_reconfigure.parameter_generator_catkin import *gen = ParameterGenerator()gen.add("velocity_scaling", double_t, 0, "the max velocity scaling", 0.4,  0.01, 1.0)exit(gen.generate(PACKAGE, PACKAGE, "ElfinBasicAPIDynamicReconfigure"))

2、cmake自动产生 ElfinBasicAPIDynamicReconfigureConfig.h头文件

find_package(catkin REQUIRED COMPONENTS   dynamic_reconfigure)generate_dynamic_reconfigure_options(  cfg/ElfinBasicAPIDynamicReconfigure.cfg)

3、使用dynamic_reconfigure::Server

#include 
    
      //引入头文件//自定义类中加入成员变量：dynamic_reconfigure::Server
     
       dynamic_reconfigure_server_;//绑定回调函数dynamic_reconfigure_server_.setCallback(boost::bind(&ElfinBasicAPI::dynamicReconfigureCallback, this, _1, _2));void ElfinBasicAPI::dynamicReconfigureCallback(ElfinBasicAPIDynamicReconfigureConfig &config, uint32_t level){    setVelocityScaling(config.velocity_scaling);}void ElfinBasicAPI::setVelocityScaling(double data){    velocity_scaling_=data;    teleop_api_->setVelocityScaling(velocity_scaling_);}

于是，elfin_basic_api自动启动了serice：

/elfin_basic_api/set_parameters

和topic：

/elfin_basic_api/parameter_descriptions/elfin_basic_api/parameter_updates

4、move_group动态修改参数

void ElfinTeleopAPI::setVelocityScaling(double data){    velocity_scaling_=data;    joint_speed_=joint_speed_default_*velocity_scaling_;    cart_duration_=cart_duration_default_/velocity_scaling_;    group_->setMaxVelocityScalingFactor(velocity_scaling_);}

python脚本修改参数

设置elfin_basic_api相关的动态参数，例如: velocity scaling  example: set_parameters() in elfin_robot_bringup/script/set_velocity_scaling.py

python源码：

# author: Cong Liuimport rospyfrom dynamic_reconfigure.srv import Reconfigure, ReconfigureRequestfrom dynamic_reconfigure.msg import DoubleParameter, Configclass SetVelocityScaling(object):    def __init__(self):        self.request=ReconfigureRequest()        self.velocity_scaling_goal=0.6        self.elfin_basic_api_ns='elfin_basic_api/'        self.set_parameters_client=rospy.ServiceProxy(self.elfin_basic_api_ns+'set_parameters',                                                      Reconfigure)        def set_parameters(self):        config_empty=Config()                velocity_scaling_param_tmp=DoubleParameter()        velocity_scaling_param_tmp.name='velocity_scaling'        velocity_scaling_param_tmp.value=self.velocity_scaling_goal        self.request.config.doubles.append(velocity_scaling_param_tmp)        self.set_parameters_client.call(self.request)        self.request.config=config_empty    if __name__ == "__main__":    rospy.init_node('set_velocity_scaling', anonymous=True)    svc=SetVelocityScaling()    svc.set_parameters()    rospy.spin()

参考： 1、

转载于:https://my.oschina.net/itfanr/blog/1931939

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