yaml参数文件的使用

params.yaml文件中的内容如下&＃xff0c;注意这里的hilbert_h:

hilbert_h:pointCloudTopic: "/velodyne_points" # Point cloud dataimuTopic: "/imu/data" # IMU dataodomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMUgpsTopic: "odometry/gps" # GPS odometry topic from navsat, see module_navsat.launch file


使用时&＃xff0c;在launch中加载该参数文件&＃xff1a;

加载后&＃xff0c;即可在程序中使用参数&＃xff0c;注意&＃xff0c;此处的 hilbert_h/ 与上面的 hilbert_h: 相对应

nh.param("hilbert_h/pointCloudTopic", pointCloudTopic, "points_raw");
nh.param("hilbert_h/imuTopic", imuTopic, "imu_correct");
nh.param("hilbert_h/odomTopic", odomTopic, "odometry/imu");
nh.param("hilbert_h/gpsTopic", gpsTopic, "odometry/gps");