ROS1/2参数之YAML

参考链接：

1. roboticsbackend.com/ros-param-yaml-format
2. roboticsbackend.com/ros2-yaml-params
3. wiki.ros.org/ROS/YAMLCommandLine
4. yaml.org
5. yaml.org/spec/1.2.2

此处以ROS1为例：

代码语言：javascript复制

Header header
  uint32 seq
  time stamp
  string frame_id
Point point
  float64 x
  float64 y
  float64 z

如下4中等效：

代码语言：javascript复制

rostopic pub pt geometry_msgs/PointStamped '{stamp: now, frame_id: base_link}' '[1.0, 2.0, 3.0]'

rostopic pub pt geometry_msgs/PointStamped '[0, now, base_link]' '[1.0, 2.0, 3.0]'

rostopic pub pt geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: [1.0, 2.0, 3.0]}'

rostopic pub pt geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 1.0, y: 2.0, z: 3.0}}'

比如常用案例：

代码语言：javascript复制

geometry_msgs/Vector3 linear
  float64 x
  float64 y
  float64 z
geometry_msgs/Vector3 angular
  float64 x
  float64 y
  float64 z

写成yaml：

代码语言：javascript复制

linear: { 
x: 0.2,
y: 0,
z: 0
}

angular: {
x: 0,
y: 0,
z: 0.2
}

使用：

rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -f vel.yaml 

com format geometry ros yaml

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