list
Description
Examples
Interact with Parameters of ROS 2 Node
Create a ROS 2 node with parameters.
nodeParams.my_double = 2.0; nodeParams.my_namespace.my_int = int64(1); nodeParams.my_double_array = [1.1 2.2 3.3]; nodeParams.my_string = "Keyparams"; mainNode = ros2node("mainNode",Parameters=nodeParams); pause(1)
Create a ros2param
object to interact with the parameters of the ROS 2 node, /node1
.
paramObj = ros2param("mainNode");
Use the set
function to change the value of the parameter my_string
.
set(paramObj,"my_string","Newparams");
Use the get
function to obtain the new value of my_string
.
stringVal = get(paramObj,"my_string")
stringVal = 'Newparams'
Use the has
function to check if the parameter my_char
exists in the ROS 2 node, /node1
.
flag = has(paramObj,"my_char")
flag = logical
0
Use the search
function to search for names of all the parameters that contain the string "my_d
". Obtain the values of the matching parameters.
[pNames,pVals] = search(paramObj,"my_d")
pNames = 2x1 cell
{'my_double' }
{'my_double_array'}
pVals=2×1 cell array
{[ 2]}
{[1.1000 2.2000 3.3000]}
Use the list
function to list the names of all parameters in the ROS 2 node.
pList = list(paramObj)
pList = 9x1 cell
{'my_double' }
{'my_double_array' }
{'my_namespace.my_int' }
{'my_string' }
{'qos_overrides./parameter_events.publisher.depth' }
{'qos_overrides./parameter_events.publisher.durability' }
{'qos_overrides./parameter_events.publisher.history' }
{'qos_overrides./parameter_events.publisher.reliability'}
{'use_sim_time' }
Input Arguments
paramObj
— ROS 2 parameter object
handle (default)
ROS 2 parameter object, specified as a ros2param
object
handle.
Output Arguments
paramList
— List of all parameter names in associated ROS 2 node
cell array
List of all parameter names in the associated ROS 2 node, returned as a cell array.
Version History
Introduced in R2022b
See Also
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