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类似json数据的读取

C++代码实现如下

1  XmlRpc::XmlRpcValue scanner_params;
2  nh.getParam("scanners", scanner_params);
3  for(size_t i = 0; i<scanner_params.size(); ++i)
4  {
5    const String& server_ip     = scanner_params[i]["server_ip"];
6    const int&    server_port   = scanner_params[i]["server_port"];
7    const String& frame_id      = scanner_params[i]["frame_id"];
8    const String& pub_topic     = scanner_params[i]["pub_topic"];
9  }

Yaml文件中数据如下

1scanners: 
2- { pub_topic: "scan_head", frame_id: "laser_scanner_link_head",server_ip: "192.168.167.100",server_port: 2111}
3- { pub_topic: "scan_middle",frame_id: "laser_scanner_link_middle",server_ip: "192.168.167.101",server_port: 2111}
4- {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，即可在程序中读取