MAVROS这里说的Parameters是什么意思？

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是不是自己可以更改的参数？

http://wiki.ros.org/mavros

我看目录发现了，它把Parameter和subscribed topic published topics放一列，我怀疑是不是跟话题，服务，同等的一个ROS中的概念，然后我去搜 ROS Parameter，确实搜出来了。

意思是提示我们可以修改设置参数服务器中的一些参数？

参数服务器里面的值是可以单独用命令改的，通过rosparam命令可实现运行时动态修改参数。

https://www.cnblogs.com/spyplus/p/11520756.html

那这些参数设置和MAVROS话题的关系是什么呢？我看不少都是和TF相关。

然后我去找了下MAVROS gitee或者github里面的yaml文件，还真找到了主要也是看到说这个参数服务器是和yaml相关的。我怀疑跟普罗米修斯读取yaml文件一样。

https://gitee.com/maxibooksiyi/mavros/blob/master/mavros/launch/apm_config.yaml

https://gitee.com/maxibooksiyi/mavros/blob/master/mavros/launch/px4_config.yaml#

里面还真的有MAVROS上面设置的那些parameters

下面是px4_config.yaml的文件内容。

# Common configuration for PX4 autopilot
#
# node:
startup_px4_usb_quirk: true# --- system plugins ---# sys_status & sys_time connection options
conn:heartbeat_rate: 1.0    # send hertbeat rate in Hertztimeout: 10.0          # hertbeat timeout in secondstimesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)# sys_status
sys:min_voltage: 10.0   # diagnostics min voltagedisable_diag: false # disable all sys_status diagnostics, except heartbeat# sys_time
time:time_ref_source: "fcu"  # time_reference sourcetimesync_mode: MAVLINKtimesync_avg_alpha: 0.6 # timesync averaging factor# --- mavros plugins (alphabetical order) ---# 3dr_radio
tdr_radio:low_rssi: 40  # raw rssi lower level for diagnostics# actuator_control
# None# command
cmd:use_comp_id_system_control: false # quirk for some old FCUs# dummy
# None# ftp
# None# global_position
global_position:frame_id: "map"             # origin framechild_frame_id: "base_link" # body-fixed framerot_covariance: 99999.0   # covariance for attitude?gps_uere: 1.0             # User Equivalent Range Error (UERE) of GPS sensor (m)use_relative_alt: true    # use relative altitude for local coordinatestf:send: false               # send TF?frame_id: "map"  # TF frame_idglobal_frame_id: "earth"  # TF earth frame_idchild_frame_id: "base_link" # TF child_frame_id# imu_pub
imu:frame_id: "base_link"# need find actual valueslinear_acceleration_stdev: 0.0003angular_velocity_stdev: 0.0003490659 // 0.02 degreesorientation_stdev: 1.0magnetic_stdev: 0.0# local_position
local_position:frame_id: "map"tf:send: falseframe_id: "map"child_frame_id: "base_link"send_fcu: false# param
# None, used for FCU params# rc_io
# None# safety_area
safety_area:p1: {x:  1.0, y:  1.0, z:  1.0}p2: {x: -1.0, y: -1.0, z: -1.0}# setpoint_accel
setpoint_accel:send_force: false# setpoint_attitude
setpoint_attitude:reverse_thrust: false     # allow reversed thrustuse_quaternion: false     # enable PoseStamped topic subscribertf:listen: false           # enable tf listener (disable topic subscribers)frame_id: "map"child_frame_id: "target_attitude"rate_limit: 50.0setpoint_raw:thrust_scaling: 1.0       # used in setpoint_raw attitude callback.# Note: PX4 expects normalized thrust values between 0 and 1, which means that# the scaling needs to be unitary and the inputs should be 0..1 as well.# setpoint_position
setpoint_position:tf:listen: false           # enable tf listener (disable topic subscribers)frame_id: "map"child_frame_id: "target_position"rate_limit: 50.0mav_frame: LOCAL_NED# setpoint_velocity
setpoint_velocity:mav_frame: LOCAL_NED# vfr_hud
# None# waypoint
mission:pull_after_gcs: true  # update mission if gcs updatesuse_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM# for uploading waypoints to FCU# --- mavros extras plugins (same order) ---# adsb
# None# debug_value
# None# distance_sensor
## Currently available orientations:
#    Check http://wiki.ros.org/mavros/Enumerations
##
distance_sensor:hrlv_ez4_pub:id: 0frame_id: "hrlv_ez4_sonar"orientation: PITCH_270 # RPY:{0.0, 270.0, 0.0} - downward-facingfield_of_view: 0.0  # XXX TODOsend_tf: truesensor_position: {x:  0.0, y:  0.0, z:  -0.1}lidarlite_pub:id: 1frame_id: "lidarlite_laser"orientation: PITCH_270field_of_view: 0.0  # XXX TODOsend_tf: truesensor_position: {x:  0.0, y:  0.0, z:  -0.1}sonar_1_sub:subscriber: trueid: 2orientation: PITCH_270laser_1_sub:subscriber: trueid: 3orientation: PITCH_270# image_pub
image:frame_id: "px4flow"# fake_gps
fake_gps:# select data sourceuse_mocap: true         # ~mocap/posemocap_transform: true   # ~mocap/tf instead of poseuse_vision: false       # ~vision (pose)# origin (default: Zürich)geo_origin:lat: 47.3667          # latitude [degrees]lon: 8.5500           # longitude [degrees]alt: 408.0            # altitude (height over the WGS-84 ellipsoid) [meters]eph: 2.0epv: 2.0satellites_visible: 5   # virtual number of visible satellitesfix_type: 3             # type of GPS fix (default: 3D)tf:listen: falsesend: false           # send TF?frame_id: "map"       # TF frame_idchild_frame_id: "fix" # TF child_frame_idrate_limit: 10.0      # TF rategps_rate: 5.0           # GPS data publishing rate# landing_target
landing_target:listen_lt: falsemav_frame: "LOCAL_NED"land_target_type: "VISION_FIDUCIAL"image:width: 640            # [pixels]height: 480camera:fov_x: 2.0071286398   # default: 115 [degrees]fov_y: 2.0071286398tf:send: truelisten: falseframe_id: "landing_target"child_frame_id: "camera_center"rate_limit: 10.0target_size: {x:  0.3, y:  0.3}# mocap_pose_estimate
mocap:# select mocap sourceuse_tf: false   # ~mocap/tfuse_pose: true  # ~mocap/pose# odom
odometry:fcu:odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometryodom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry# px4flow
px4flow:frame_id: "px4flow"ranger_fov: 0.118682      # 6.8 degrees at 5 meters, 31 degrees at 1 meterranger_min_range: 0.3     # metersranger_max_range: 5.0     # meters# vision_pose_estimate
vision_pose:tf:listen: false           # enable tf listener (disable topic subscribers)frame_id: "odom"child_frame_id: "vision_estimate"rate_limit: 10.0# vision_speed_estimate
vision_speed:listen_twist: true    # enable listen to twist topic, else listen to vec3d topictwist_cov: true       # enable listen to twist with covariance topic# vibration
vibration:frame_id: "base_link"# wheel_odometry
wheel_odometry:count: 2           # number of wheels to compute odometryuse_rpm: false     # use wheel's RPM instead of cumulative distance to compute odometrywheel0: {x: 0.0, y: -0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)wheel1: {x: 0.0, y:  0.15, radius: 0.05} # x-, y-offset (m,NED) and radius (m)send_raw: true              # send wheel's RPM and cumulative distance (~/wheel_odometry/rpm, ~/wheel_odometry/distance)send_twist: false           # send geometry_msgs/TwistWithCovarianceStamped instead of nav_msgs/Odometryframe_id: "odom"             # origin framechild_frame_id: "base_link" # body-fixed framevel_error: 0.1              # wheel velocity measurement error 1-std (m/s)tf:send: falseframe_id: "odom"child_frame_id: "base_link"# vim:set ts=2 sw=2 et:

你看看，再看MAVROS官网给的parameters，不就对上了么。