Entendendo Serviços e Parâmetros ROS

Description: Esse tutorial introduz Serviços e Parâmetros ROS, bem como o uso das ferramentas de linha de comando rosservice e rosparam.

Tutorial Level: BEGINNER

Next Tutorial: Using rqt_console and roslaunch

Assuming your turtlesim node is still running from the last tutorial, let's look at what services the turtlesim provides:

ROS Services

Services are another way that nodes can communicate with each other. Services allow nodes to send a request and receive a response.

Using rosservice

rosservice can easily attach to ROS's client/service framework with services. rosservice has many commands that can be used on topics, as shown below:

Usage:

rosservice list print information about active topics
rosservice call call the service with the provided args
rosservice type print service type
rosservice uri  print service ROSRPC uri

rosservice list

$ rosservice list

The list command shows us that the turtlesim node provides five services, reset, clear, spawn, kill, turtle1/set_pen, turtlesim/get_loggers, and turtlesim/set_logger_level:

• /turtle1/teleport_absolute
  /turtlesim/get_loggers
  /turtlesim/set_logger_level
  /reset
  /rosout/get_loggers
  /spawn
  /clear
  /rosout/set_logger_level
  /turtle1/set_pen
  /turtle1/teleport_relative
  /kill

Let's look more closely at the clear service using rosservice type:

rosservice type

Usage:

rosservice type [service]

Let's find out what type the clear service is:

$ rosservice type clear

• std_srvs/Empty

This service is empty, this means when the service call is made it takes no arguments (i.e. it sends no data when making a request and receives no data when receiving a response). Let's call this service using rosservice call:

rosservice call

Usage:

rosservice call [service] [args]

Here we'll call with no arguments because the service is of type empty:

rosservice call clear

This does what we expect, it clears the background of the turtlesim_node.

• 

Let's look at the case where the service has arguments, let's look at the srv for spawn:

$ rosservice type spawn| rossrv show

• float32 x
  float32 y
  float32 theta
  string name
  ---
  string name

This service let's us spawn a new turtle at a given location and orientation. The name field is optional, so let's not give our new turtle a name and let turtlesim create one for us.

$ rosservice call spawn 2 2 0.2 ""

The service call returns with the name of the newly created turtle

• name: turtle2

Now our turtle should look like this:

• 

Using rosparam

rosparam allows you to store and manipulate data on the ROS Parameter Server. The Parameter Server can store integers, floats, boolean, dictionaries, and lists. rosparam uses the YAML markup language for syntax. In simple cases, YAML looks very natural: 1 is an integer, 1.0 is a float, one is a string, true is a boolean, [1, 2, 3] is a list of integers, and {a: b, c: d} is a dictionary. rosparam has many commands that can be used on topics, as shown below:

Usage:

rosparam set    set parameter
rosparam get    get parameter
rosparam load   load parameters from file
rosparam dump   dump parameters to file
rosparam delete delete parameter
rosparam list   list parameter names

Let's look at what parameters are currently on the param server:

rosparam list

$ rosparam list

Here we can see that the turtlesim node has three parameters on the param server for background color:

• /background_b
  /background_g
  /background_r
  /roslaunch/uris/aqy:51932
  /run_id

Let's change one of the parameter values using rosparam set:

rosparam set and rosparam set

Usage:

rosparam set [param_name]
rosparam get [param_name]

Here will change the red channel of the background color:

$ rosparam set background_r 150

This changes the parameter value, now we have to call the clear service for the parameter change to take effect:

$ rosservice call clear

Now our turtlesim looks like this:

• 

Now let's look at the values of other parameters on the param server. Let's get the value of the green background channel:

$ rosparam get background_g 

• 144

We can also use rosparam get / to show us the contents of the entire Parameter Server.

$ rosparam get /

• background_b: 255
  background_g: 144
  background_r: 150
  roslaunch:
    uris: {'aqy:51932': 'http://aqy:51932/'}
  run_id: e07ea71e-98df-11de-8875-001b21201aa8

You may wish to store this in a file so that you can reload it at another time. This is easy using rosparam:

rosparam dump and rosparam load

Usage:

rosparam dump [file_name]
rosparam load [file_name] [namespace]

Here we write all the parameters to the file params.yaml

$ rosparam dump params.yaml

You can even load these yaml files into new namespaces, e.g. copy:

$ rosparam load params.yaml copy
$ rosparam get copy/background_b

• 255

Now that you understand how ROS services and params work, let's try using rxconsole and roslaunch