4.5.3 修改其他节点的参数

开心

遇到问题：
在PatrolClient类中写入更新服务参数函数update_server_param_k，在main函数中调用（node->update_server_param_k(1.5);）code代码报错：
函数 "PatrolClient::update_server_param_k" (已声明所在行数:77) 不可访问，我没有找到代码的毛病，请求老师帮助
代码如下：

#include <chrono>
#include <cstdlib>
#include <ctime>
#include "rclcpp/rclcpp.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"
#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/parameter_value.hpp"
#include "rcl_interfaces/msg/parameter_type.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
using SetP = rcl_interfaces::srv::SetParameters;

using namespace std::chrono_literals;
using Patrol = chapt4_interfaces::srv::Patrol;

class PatrolClient : public rclcpp::Node
{
    public:
     PatrolClient() : Node("patrol_client") {
        patrol_client_ = this->create_client<Patrol>("patrol");
        timer_ = this->create_wall_timer(10s,
        std::bind(&PatrolClient::timer_callback, this));
        srand(time(NULL));
     }
    void timer_callback() {
        while (!patrol_client_->wait_for_service(std::chrono::seconds(1)))
        {
            if(!rclcpp::ok()) {
                RCLCPP_ERROR(this->get_logger(),"等待服务端过程中被打断...");
                return;
            }
            RCLCPP_INFO(this->get_logger(),"等待服务端上线中");
        }
        
        auto request = std::make_shared<Patrol::Request>();
        request->target_x = rand() % 15;
        request->target_y = rand() % 15;
        RCLCPP_INFO(this->get_logger(), "请求巡逻：(%f,%f)",request->target_x,
        request->target_y);
        patrol_client_->async_send_request(
            request,
            [&](rclcpp::Client<Patrol>::SharedFuture result_future) -> void {
                auto response = result_future.get();
                if (response->result == Patrol::Response::SUCCESS) {
                    RCLCPP_INFO(this->get_logger(), "目标点处理成功");
                } else if (response->result == Patrol::Response::FALL) {
                    RCLCPP_INFO(this->get_logger(), "目标点处理失败");
                }
            });

    }

    private:
     rclcpp::TimerBase::SharedPtr timer_;
     rclcpp::Client<Patrol>::SharedPtr patrol_client_;

    std::shared_ptr<SetP::Response> call_set_parameters(
        rcl_interfaces::msg::Parameter &parameter) {
            auto param_client = 
            this->create_client<SetP>("/turtle_controller/set_parameters");
            while (!param_client->wait_for_service(std::chrono::seconds(1)))
            {
                if (!rclcpp::ok())
                {
                 RCLCPP_ERROR(this->get_logger(),"等待服务的过程中被打断...");
                 return nullptr;
                }
                RCLCPP_INFO(this->get_logger(),"等待参数设置服务端上线中");
            }
            auto request = std::make_shared<SetP::Request>();
            request->parameters.push_back(parameter);
            auto future = param_client->async_send_request(request);
            rclcpp::spin_until_future_complete(this->get_node_base_interface(), future);
            auto response = future.get();
            return response;
         }

         void update_server_param_k(double k) {
            auto param = rcl_interfaces::msg::Parameter();
            param.name = "k";
            auto param_value = rcl_interfaces::msg::ParameterValue();
            param_value.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
            param_value.double_value = k;
            param.value = param_value;
            auto response = call_set_parameters(param);
            if (response == nullptr) {
                RCLCPP_WARN(this->get_logger(),"参数修改失败");
                return;
            } else {
                for (auto result : response->results) {
                    if (result.successful) {
                        RCLCPP_INFO(this->get_logger(),"参数k已修改为:%f", k);
                    } else {
                        RCLCPP_WARN(this->get_logger(),"参数k失败原因:%s", result.reason.c_str());
                    }
                }
            }
         }

};

int main(int argc, char **argv) {
    rclcpp::init(argc, argv);
    auto node = std::make_shared<PatrolClient>();
    node->update_server_param_k(1.5);
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;

}

小鱼

@43996173 在 4.5.3 修改其他节点的参数中说：

private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Client<Patrol>::SharedPtr patrol_client_;

std::shared_ptr<SetP::Response> call_set_parameters(
    rcl_interfaces::msg::Parameter &parameter) {
        auto param_client = 
        this->create_client<SetP>("/turtle_controller/set_parameters");
        while (!param_client->wait_for_service(std::chrono::seconds(1)))
        {
            if (!rclcpp::ok())
            {
             RCLCPP_ERROR(this->get_logger(),"等待服务的过程中被打断...");
             return nullptr;
            }
            RCLCPP_INFO(this->get_logger(),"等待参数设置服务端上线中");
        }
        auto request = std::make_shared<SetP::Request>();
        request->parameters.push_back(parameter);
        auto future = param_client->async_send_request(request);
        rclcpp::spin_until_future_complete(this->get_node_base_interface(), future);
        auto response = future.get();
        return response;
     }

     void update_server_param_k(double k) {

注意这里的private,表示私有成员，不能通过对象.函数名字访问，请将其修改为public,这是一个基础的C++类的语法问题，请注意。

开心

@小鱼收到，谢谢，