ROS环境读取yaml文件中数组

利用ROS自带的XmlRpc::XmlRpcValue实现一维数组或者二位数组等相似json数据的读取

C++代码实现以下

 XmlRpc::XmlRpcValue scanner_params; nh.getParam("scanners", scanner_params); for(size_t i = 0; i<scanner_params.size(); ++i) { const String& server_ip     = scanner_params[i]["server_ip"]; const int&    server_port   = scanner_params[i]["server_port"]; const String& frame_id      = scanner_params[i]["frame_id"]; const String& pub_topic     = scanner_params[i]["pub_topic"]; }

Yaml文件中数据以下

scanners: - { pub_topic: "scan_head", frame_id: "laser_scanner_link_head",server_ip: "192.168.167.100",server_port: 2111} - { pub_topic: "scan_middle",frame_id: "laser_scanner_link_middle",server_ip: "192.168.167.101",server_port: 2111} - {pub_topic: "scan_tail",frame_id: "laser_scanner_link_tail",server_ip: "192.168.167.102",server_port: 2111}

在launch文件中加载yaml参数文件，便可在程序中读取