devbox
花生_TL007
这个屌丝很懒，什么也没留下！
关注作者
热门标签
热门文章
当前位置:   article > 正文

通过slam同步建图程序看ros2节点参数传递生效顺序_ros2 launch 节点执行顺序

作者：花生_TL007 | 2024-05-11 15:57:16

赞

踩

ros2 launch 节点执行顺序

缘起：

ros2 节点参数可以通过启动节点添加，也可以通过launch文件添加，还可以通过配置文件.yaml文件添加，或者是几种方式套用添加，给初学者带来很大的困惑具体是哪个生效了呢，我们拿slam_toolbox  包的online_sync_launch.py来剖析。

程序安装参考这里

(SLAM) 建图时导航 — Navigation 2 1.0.0 文档

我们这里采用源码编译安装，方便随时修改代码编译运行看效果

源码下载地址：https://github.com/SteveMacenski/slam_toolbox/tree/foxy-develicon-default.png?t=N7T8https://github.com/SteveMacenski/slam_toolbox/tree/foxy-devel

 文件目录结构

 online_sync_launch.py  # 同步建图launch文件源码

  1. import os
  2.  
  3. from launch import LaunchDescription
  4. from launch.actions import DeclareLaunchArgument, LogInfo
  5. from launch.conditions import UnlessCondition
  6. from launch.substitutions import LaunchConfiguration, PythonExpression
  7. from launch_ros.actions import Node
  8. from ament_index_python.packages import get_package_share_directory
  9. from nav2_common.launch import HasNodeParams
  10.  
  11.  
  12. def generate_launch_description():
  13.     use_sim_time = LaunchConfiguration('use_sim_time')
  14.     params_file = LaunchConfiguration('params_file')
  15.     default_params_file = os.path.join(get_package_share_directory("slam_toolbox"),
  16.                                        'config', 'mapper_params_online_sync.yaml')
  17.  
  18.     declare_use_sim_time_argument = DeclareLaunchArgument(
  19.         'use_sim_time',
  20.         default_value='true',
  21.         description='Use simulation/Gazebo clock')
  22.     declare_params_file_cmd = DeclareLaunchArgument(
  23.         'params_file',
  24.         default_value=default_params_file,
  25.         description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
  26.  
  27.     # If the provided param file doesn't have slam_toolbox params, we must pass the
  28.     # default_params_file instead. This could happen due to automatic propagation of
  29.     # LaunchArguments. See:
  30.     # https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
  31.     has_node_params = HasNodeParams(source_file=params_file,
  32.                                     node_name='slam_toolbox')
  33.  
  34.     actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
  35.                                            ' else "', default_params_file, '"'])
  36.  
  37.     log_param_change = LogInfo(msg=['provided params_file ',  params_file,
  38.                                     ' does not contain slam_toolbox parameters. Using default: ',
  39.                                     default_params_file],
  40.                                condition=UnlessCondition(has_node_params))
  41.  
  42.     start_sync_slam_toolbox_node = Node(
  43.         parameters=[
  44.           actual_params_file,
  45.           {'use_sim_time': use_sim_time}
  46.         ],
  47.         package='slam_toolbox',
  48.         executable='sync_slam_toolbox_node',
  49.         name='slam_toolbox',
  50.         output='screen')
  51.  
  52.     ld = LaunchDescription()
  53.  
  54.     ld.add_action(declare_use_sim_time_argument)
  55.     ld.add_action(declare_params_file_cmd)
  56.     ld.add_action(log_param_change)
  57.     ld.add_action(start_sync_slam_toolbox_node)
  58.  
  59.     return ld

这里我们只看节点配置部分

  1.  start_sync_slam_toolbox_node = Node(
  2.         parameters=[
  3.           actual_params_file,
  4.           {'use_sim_time': use_sim_time}
  5.         ],
  6.         package='slam_toolbox',
  7.         executable='sync_slam_toolbox_node',
  8.         name='slam_toolbox',
  9.         output='screen')

lanuch文件节点参数传递语句：

parameters=[

actual_params_file,

{'use_sim_time': use_sim_time}

],

这里我们只拿最常用的一个参数use_sim_time举例，看看是哪一步的设置生效了，其他参数逻辑是一样的。

启动这个节点

ros2 launch slam_toolbox online_sync_launch.py

  1. [INFO] [launch]: All log files can be found below /home/m/.ros/log/2023-09-06-01-39-24-649989-ubun-44795
  2. [INFO] [launch]: Default logging verbosity is set to INFO
  3. [INFO] [sync_slam_toolbox_node-1]: process started with pid [44797]
  4. [sync_slam_toolbox_node-1] [INFO] [1693935564.841328831] [slam_toolbox]: Node using stack size 40000000
  5. [sync_slam_toolbox_node-1] [INFO] [1693935564.869237603] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
  6. [sync_slam_toolbox_node-1] [INFO] [1693935564.869558263] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.


查看节点下载参数

m@ubun:~/ros2_ws$ ros2 node list
/slam_toolbox
/transform_listener_impl_563889db4b50
m@ubun:~/ros2_ws$ ros2 param dump slam_toolbox
Saving to:  ./slam_toolbox.yaml

下载的slam_toolbox节点参数详情

  1. /slam_toolbox:
  2.   ros__parameters:
  3.     angle_variance_penalty: 1.0
  4.     base_frame: base_footprint
  5.     ceres_dogleg_type: TRADITIONAL_DOGLEG
  6.     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
  7.     ceres_loss_function: None
  8.     ceres_preconditioner: SCHUR_JACOBI
  9.     ceres_trust_strategy: LEVENBERG_MARQUARDT
  10.     coarse_angle_resolution: 0.0349
  11.     coarse_search_angle_offset: 0.349
  12.     correlation_search_space_dimension: 0.5
  13.     correlation_search_space_resolution: 0.01
  14.     correlation_search_space_smear_deviation: 0.1
  15.     debug_logging: false
  16.     distance_variance_penalty: 0.5
  17.     do_loop_closing: true
  18.     enable_interactive_mode: true
  19.     fine_search_angle_offset: 0.00349
  20.     interactive_mode: false
  21.     link_match_minimum_response_fine: 0.1
  22.     link_scan_maximum_distance: 1.5
  23.     loop_match_maximum_variance_coarse: 3.0
  24.     loop_match_minimum_chain_size: 10
  25.     loop_match_minimum_response_coarse: 0.35
  26.     loop_match_minimum_response_fine: 0.45
  27.     loop_search_maximum_distance: 3.0
  28.     loop_search_space_dimension: 8.0
  29.     loop_search_space_resolution: 0.05
  30.     loop_search_space_smear_deviation: 0.03
  31.     map_file_name: ''
  32.     map_frame: map
  33.     map_name: /map
  34.     map_start_at_dock: null
  35.     map_start_pose: null
  36.     map_update_interval: 5.0
  37.     minimum_angle_penalty: 0.9
  38.     minimum_distance_penalty: 0.5
  39.     minimum_time_interval: 0.5
  40.     minimum_travel_distance: 0.5
  41.     minimum_travel_heading: 0.5
  42.     mode: mapping
  43.     odom_frame: odom
  44.     paused_new_measurements: false
  45.     paused_processing: false
  46.     resolution: 0.05
  47.     scan_buffer_maximum_scan_distance: 10.0
  48.     scan_buffer_size: 10
  49.     scan_topic: /scan
  50.     solver_plugin: solver_plugins::CeresSolver
  51.     tf_buffer_duration: 30.0
  52.     throttle_scans: 1
  53.     transform_publish_period: 0.02
  54.     transform_timeout: 0.2
  55.     use_response_expansion: true
  56.     use_scan_barycenter: true
  57.     use_scan_matching: true
  58.     use_sim_time: true

看最后一项：

use_sim_time: true

launch文件默认设置：

  1.  declare_use_sim_time_argument = DeclareLaunchArgument(
  2.         'use_sim_time',
  3.         default_value='true',
  4.         description='Use simulation/Gazebo clock')

如果我们启动这个launch文件加上参数

 m@ubun:~/ros2_ws$ ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=false

  1.  
  2. [INFO] [launch]: All log files can be found below /home/m/.ros/log/2023-09-06-01-48-36-038660-ubun-45408
  3. [INFO] [launch]: Default logging verbosity is set to INFO
  4. [INFO] [sync_slam_toolbox_node-1]: process started with pid [45410]
  5. [sync_slam_toolbox_node-1] [INFO] [1693936116.286793795] [slam_toolbox]: Node using stack size 40000000
  6. [sync_slam_toolbox_node-1] [INFO] [1693936116.307085638] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
  7. [sync_slam_toolbox_node-1] [INFO] [1693936116.307325365] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.

再次下载参数配置文件

m@ubun:~/ros2_ws$ ros2 param dump slam_toolbox
Saving to:  ./slam_toolbox.yaml

  1. /slam_toolbox:
  2.   ros__parameters:
  3.     angle_variance_penalty: 1.0
  4.     base_frame: base_footprint
  5.     ceres_dogleg_type: TRADITIONAL_DOGLEG
  6.     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
  7.     ceres_loss_function: None
  8.     ceres_preconditioner: SCHUR_JACOBI
  9.     ceres_trust_strategy: LEVENBERG_MARQUARDT
  10.     coarse_angle_resolution: 0.0349
  11.     coarse_search_angle_offset: 0.349
  12.     correlation_search_space_dimension: 0.5
  13.     correlation_search_space_resolution: 0.01
  14.     correlation_search_space_smear_deviation: 0.1
  15.     debug_logging: false
  16.     distance_variance_penalty: 0.5
  17.     do_loop_closing: true
  18.     enable_interactive_mode: true
  19.     fine_search_angle_offset: 0.00349
  20.     interactive_mode: false
  21.     link_match_minimum_response_fine: 0.1
  22.     link_scan_maximum_distance: 1.5
  23.     loop_match_maximum_variance_coarse: 3.0
  24.     loop_match_minimum_chain_size: 10
  25.     loop_match_minimum_response_coarse: 0.35
  26.     loop_match_minimum_response_fine: 0.45
  27.     loop_search_maximum_distance: 3.0
  28.     loop_search_space_dimension: 8.0
  29.     loop_search_space_resolution: 0.05
  30.     loop_search_space_smear_deviation: 0.03
  31.     map_file_name: ''
  32.     map_frame: map
  33.     map_name: /map
  34.     map_start_at_dock: null
  35.     map_start_pose: null
  36.     map_update_interval: 5.0
  37.     minimum_angle_penalty: 0.9
  38.     minimum_distance_penalty: 0.5
  39.     minimum_time_interval: 0.5
  40.     minimum_travel_distance: 0.5
  41.     minimum_travel_heading: 0.5
  42.     mode: mapping
  43.     odom_frame: odom
  44.     paused_new_measurements: false
  45.     paused_processing: false
  46.     resolution: 0.05
  47.     scan_buffer_maximum_scan_distance: 10.0
  48.     scan_buffer_size: 10
  49.     scan_topic: /scan
  50.     solver_plugin: solver_plugins::CeresSolver
  51.     tf_buffer_duration: 30.0
  52.     throttle_scans: 1
  53.     transform_publish_period: 0.02
  54.     transform_timeout: 0.2
  55.     use_response_expansion: true
  56.     use_scan_barycenter: true
  57.     use_scan_matching: true
  58.     use_sim_time: false

use_sim_time: false   

重新修改参数启动节点

m@ubun:~/ros2_ws$ ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=true

再次下载配置文件

use_sim_time: true 

这里可以看出use_sim_time 的值生效顺序ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=true 或者use_sim_time:=false 是大于launch内的默认配置的。所以我们可以不管launch内的默认配置，直接在启动launch文件时在后面加上参数配置。

这里还有另外一种情况，launch内导入了配置文件的.yaml文件，我们还拿use_sim_time举例。

  1.  start_sync_slam_toolbox_node = Node(
  2.         parameters=[
  3.           actual_params_file,
  4.           {'use_sim_time': use_sim_time}
  5.         ],

actual_params_file其实就是导入的下面的文件

default_params_file = os.path.join(get_package_share_directory("slam_toolbox"),

'config', 'mapper_params_online_sync.yaml')

mapper_params_online_sync.yaml

  1. slam_toolbox:
  2.   ros__parameters:
  3.  
  4.     # Plugin params
  5.     solver_plugin: solver_plugins::CeresSolver
  6.     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
  7.     ceres_preconditioner: SCHUR_JACOBI
  8.     ceres_trust_strategy: LEVENBERG_MARQUARDT
  9.     ceres_dogleg_type: TRADITIONAL_DOGLEG
  10.     ceres_loss_function: None
  11.  
  12.     # ROS Parameters
  13.     odom_frame: odom
  14.     map_frame: map
  15.     base_frame: base_footprint
  16.     scan_topic: /scan
  17.     mode: mapping #localization
  18.  
  19.     # if you'd like to immediately start continuing a map at a given pose
  20.     # or at the dock, but they are mutually exclusive, if pose is given
  21.     # will use pose
  22.     #map_file_name: test_steve
  23.     #map_start_pose: [0.0, 0.0, 0.0]
  24.     #map_start_at_dock: true
  25.  
  26.     debug_logging: false
  27.     throttle_scans: 1
  28.     transform_publish_period: 0.02 #if 0 never publishes odometry
  29.     map_update_interval: 5.0
  30.     resolution: 0.05
  31.     max_laser_range: 20.0 #for rastering images
  32.     minimum_time_interval: 0.5
  33.     transform_timeout: 0.2
  34.     tf_buffer_duration: 30.
  35.     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
  36.     enable_interactive_mode: true
  37.  
  38.     # General Parameters
  39.     use_scan_matching: true
  40.     use_scan_barycenter: true
  41.     minimum_travel_distance: 0.5
  42.     minimum_travel_heading: 0.5
  43.     scan_buffer_size: 10
  44.     scan_buffer_maximum_scan_distance: 10.0
  45.     link_match_minimum_response_fine: 0.1  
  46.     link_scan_maximum_distance: 1.5
  47.     loop_search_maximum_distance: 3.0
  48.     do_loop_closing: true 
  49.     loop_match_minimum_chain_size: 10           
  50.     loop_match_maximum_variance_coarse: 3.0  
  51.     loop_match_minimum_response_coarse: 0.35    
  52.     loop_match_minimum_response_fine: 0.45
  53.  
  54.     # Correlation Parameters - Correlation Parameters
  55.     correlation_search_space_dimension: 0.5
  56.     correlation_search_space_resolution: 0.01
  57.     correlation_search_space_smear_deviation: 0.1 
  58.  
  59.     # Correlation Parameters - Loop Closure Parameters
  60.     loop_search_space_dimension: 8.0
  61.     loop_search_space_resolution: 0.05
  62.     loop_search_space_smear_deviation: 0.03
  63.  
  64.     # Scan Matcher Parameters
  65.     distance_variance_penalty: 0.5      
  66.     angle_variance_penalty: 1.0    
  67.  
  68.     fine_search_angle_offset: 0.00349     
  69.     coarse_search_angle_offset: 0.349   
  70.     coarse_angle_resolution: 0.0349        
  71.     minimum_angle_penalty: 0.9
  72.     minimum_distance_penalty: 0.5
  73.     use_response_expansion: true
  74.     #临时在下面添加的参数
  75.     use_sim_time: true

我们在.yaml后面添加了use_sim_time: true

再次启动节点

ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=true 或者use_sim_time:=false

下载参数

ros2 param dump slam_toolbox
Saving to:  ./slam_toolbox.yaml 

  1. /slam_toolbox:
  2.   ros__parameters:
  3.     angle_variance_penalty: 1.0
  4.     base_frame: base_footprint
  5.     ceres_dogleg_type: TRADITIONAL_DOGLEG
  6.     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
  7.     ceres_loss_function: None
  8.     ceres_preconditioner: SCHUR_JACOBI
  9.     ceres_trust_strategy: LEVENBERG_MARQUARDT
  10.     coarse_angle_resolution: 0.0349
  11.     coarse_search_angle_offset: 0.349
  12.     correlation_search_space_dimension: 0.5
  13.     correlation_search_space_resolution: 0.01
  14.     correlation_search_space_smear_deviation: 0.1
  15.     debug_logging: false
  16.     distance_variance_penalty: 0.5
  17.     do_loop_closing: true
  18.     enable_interactive_mode: true
  19.     fine_search_angle_offset: 0.00349
  20.     interactive_mode: false
  21.     link_match_minimum_response_fine: 0.1
  22.     link_scan_maximum_distance: 1.5
  23.     loop_match_maximum_variance_coarse: 3.0
  24.     loop_match_minimum_chain_size: 10
  25.     loop_match_minimum_response_coarse: 0.35
  26.     loop_match_minimum_response_fine: 0.45
  27.     loop_search_maximum_distance: 3.0
  28.     loop_search_space_dimension: 8.0
  29.     loop_search_space_resolution: 0.05
  30.     loop_search_space_smear_deviation: 0.03
  31.     map_file_name: ''
  32.     map_frame: map
  33.     map_name: /map
  34.     map_start_at_dock: null
  35.     map_start_pose: null
  36.     map_update_interval: 5.0
  37.     minimum_angle_penalty: 0.9
  38.     minimum_distance_penalty: 0.5
  39.     minimum_time_interval: 0.5
  40.     minimum_travel_distance: 0.5
  41.     minimum_travel_heading: 0.5
  42.     mode: mapping
  43.     odom_frame: odom
  44.     paused_new_measurements: false
  45.     paused_processing: false
  46.     resolution: 0.05
  47.     scan_buffer_maximum_scan_distance: 10.0
  48.     scan_buffer_size: 10
  49.     scan_topic: /scan
  50.     solver_plugin: solver_plugins::CeresSolver
  51.     tf_buffer_duration: 30.0
  52.     throttle_scans: 1
  53.     transform_publish_period: 0.02
  54.     transform_timeout: 0.2
  55.     use_response_expansion: true
  56.     use_scan_barycenter: true
  57.     use_scan_matching: true
  58.     use_sim_time: true

不管怎么修改launch的启动参数，use_sim_time: true不变，说明launch文件内加载的.yaml 的权重是大于launch文件后面的启动参数的。

注意我们每次修改完程序都需要重新编译，要不然修改是不生效的。

我们这么反复测试只是为了验证参数在传递过程中哪里生效了，因为launch文件经过层层套娃，一个参数传递了好多次。

参数生效顺序 launch内的.yaml文件大于 ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=true  大于launch文件内的默认参数配置

declare_use_sim_time_argument = DeclareLaunchArgument(

'use_sim_time',

default_value='true',

description='Use simulation/Gazebo clock')

虽然yaml文件的权重最大，但是yaml文件可以在launch文件内进行替换，

  1.  # Create our own temporary YAML files that include substitutions
  2.  # 创建我们自己的临时YAML文件，其中包括替换
  3.     param_substitutions = {
  4.         'use_sim_time': use_sim_time,
  5.         'yaml_filename': map_yaml_file}
  6.  
  7.     configured_params = RewrittenYaml(
  8.         source_file=params_file,
  9.         root_key=namespace,
  10.         param_rewrites=param_substitutions,
  11.         convert_types=True)

经过这样替换yaml文件的某些参数，使yaml文件的某些参数权重不再是最大。而变成

ros2 launch slam_toolbox online_sync_launch.py use_sim_time:=true  这样的后缀参数权重最大。

声明：本文内容由网友自发贡献，不代表【wpsshop博客】立场，版权归原作者所有，本站不承担相应法律责任。如您发现有侵权的内容，请联系我们。转载请注明出处：https://www.wpsshop.cn/w/花生_TL007/article/detail/555360
推荐阅读
相关标签

Copyright © 2003-2013 www.wpsshop.cn 版权所有，并保留所有权利。

  

闽ICP备14008679号