ros2 run传递参数的格式

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel #这个只能用于重命名节点名称

可以用以下语法直接从命令行中设置参数：

ros2 run package_name executable_name --ros-args -p param_name:=param_value

下面这个示例可以运行命令：

ros2 run demo_nodes_cpp parameter_blackboard --ros-args -p some_int:=42 -p "a_string:=Hello world" -p "some_lists.some_integers:=[1, 2, 3, 4]" -p "some_lists.some_doubles:=[3.14, 2.718]"

///这个参数是ros2参数服务器的那个参数，不是传递给可执行文件的参数

7 Load parameter file on node startup?

To start the same node using your saved parameter values, use:

ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

This is the same command you always use to start turtlesim, with the added flags?--ros-args?and?--params-file, followed by the file you want to load.

Stop your running turtlesim node, and try reloading it with your saved parameters, using:

ros2 run turtlesim turtlesim_node --ros-args --params-file turtlesim.yaml

The turtlesim window should appear as usual, but with the purple background you set earlier.

格式: ros2 run [-h] [--prefix PREFIX] package_name executable_name ...

Run a package specific executable

positional arguments:
? package_name ? ? Name of the ROS package
? executable_name ?Name of the executable
? argv ? ? ? ? ? ? Pass arbitrary arguments to the executable

options:
? -h, --help ? ? ? show this help message and exit
? --prefix PREFIX ?Prefix command, which should go before the executable. Command must be wrapped in quotes if it contains spaces (e.g. --prefix 'gdb -ex run --args').

这个就是ros2 run在launch文件里面的搞法：

<node>

? ? ? ? <param name='abc'? value='123'?/>

</node>