1.使用命令修改参数服务器

单独使用命令启动小乌龟节点，不是用lanuch文件，不启动键盘控制节点

rosrun turtlesim turtlesim_node

使用命令打印参数服务器参数列表

rosparam list

修改小乌龟节点的背景色

rosparam set /turtlesim/background_b 自定义数值

rosparam set /turtlesim/background_g 自定义数值

rosparam set /turtlesim/background_r 自定义数值

修改相关参数后，重启 turtlesim_node 节点，背景色就会发生改变了

2.启动节点时，直接设置参数

rosrun turtlesim turtlesim_node _background_r:=100 _background_g=0 _background_b=0

3.通过launch文件传参

<launch>
    <node pkg="turtlesim" type="turtlesim_node" name="set_bg" output="screen">
        <!-- launch 传参策略1 -->
        <!-- <param name="background_b" value="0" type="int" />
        <param name="background_g" value="0" type="int" />
        <param name="background_r" value="0" type="int" /> -->

        <!-- launch 传参策略2 -->
        <rosparam command="load" file="$(find demo03_test_parameter)/cfg/color.yaml" />
    </node>

</

4.C++实现修改参数服务器参数

创建编程文件，编写代码，编辑配置文件

/*
    注意命名空间的使用。

*/
#include "ros/ros.h"


int main(int argc, char *argv[])
{
    ros::init(argc,argv,"haha");

    ros::NodeHandle nh("turtlesim");
    //ros::NodeHandle nh;

    // ros::param::set("/turtlesim/background_r",0);
    // ros::param::set("/turtlesim/background_g",0);
    // ros::param::set("/turtlesim/background_b",0);

    nh.setParam("background_r",0);
    nh.setParam("background_g",0);
    nh.setParam("background_b",0);


    return 0;
}

add_executable(change_rgb_c src/change_rgb_c.cpp)
target_link_libraries(change_rgb_c
  ${catkin_LIBRARIES}
)

  运行程序查看效果

rosrun control_turtle0 change_rgb_c
rosrun turtlesim turtlesim_node

 5.Python实现修改参数服务器参数

新建编程文件，编辑配置文件，添加可执行权限

#! /usr/bin/env python
# -*- coding: UTF-8 -*-

import rospy

if __name__ == "__main__":
    rospy.init_node("hehe")
    rospy.set_param("/turtlesim/background_r",255)
    rospy.set_param("/turtlesim/background_g",0)
    rospy.set_param("/turtlesim/background_b",0)
    # rospy.set_param("background_r",0)
    # rospy.set_param("background_g",0)
    # rospy.set_param("background_b",255)  # 调用时，需要传入 __ns:=xxx

catkin_install_python(PROGRAMS
  scripts/change_rgb_p.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

 

 运行查看结果

rosrun control_turtle0 change_rgb_p.py 
rosrun turtlesim turtlesim_nod

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