调用服务

callserver_demo.py

#!/usr/bin/env python

import rospy
from std_srvs.srv import Empty

if __name__ == "__main__":
    rospy.init_node('service_demo',anonymous=True)

    rospy.wait_for_service('/move_base/clear_costmaps')
    clear_costmap = rospy.ServiceProxy('move_base/clear_costmaps', Empty)

    r = rospy.Rate(0.2)
    r.sleep()
    rospy.loginfo("clear_costmap...")
    clear_costmap()

上面代码完成/move_base/clear_costmaps服务的调用，即等于rosservice call /move_base/clear_costmaps

动态设置参数

通过rosrun rqt_reconfigure rqt_reconfigure设置参数改为使用代码调用修改

reconfigure_demo.py

import rospy

import dynamic_reconfigure.client

if __name__ == "__main__":
    rospy.init_node('reconfigure_demo',anonymous=True)

    client = dynamic_reconfigure.client.Client("/move_base/DWAPlannerROS", timeout=4, config_callback=None)

    client.update_configuration({"xy_goal_tolerance":0.05})

上面代码完成/move_base/DWAPlannerROS/xy_goal_tolerance,设置完成后通过rosrun rqt_reconfigure rqt_reconfigure或者rosparam get /move_base/DWAPlannerROS/xy_goal_tolerance可以查看到该参数是否被修改