ROS_Dynamic Reconfig 动态参数调节

1、创建一个动态参数配置文件

vim  /ros_workspace/src/hollo_ros/cfg/my_cfg.cfg

#!/usr/bin/env python
PACKAGE = "hello_ros"

from dynamic_reconfigure.parameter_generator_catkin import *
#初始化ROS，并导入参数生成器

gen = ParameterGenerator()
#添加参数 （name , typt, level, description, default, min,max）
gen.add("int_param",    int_t,    0, "An Integer parameter", 1,   0, 100)
gen.add("double_param", double_t, 0, "A double parameter",   0.1, 0,   1)
gen.add("str_param",    str_t,    0, "A string parameter",  "Chapter2_dynamic_reconfigure")
gen.add("bool_param",   bool_t,   0, "A Boolean parameter",  True)

size_enum = gen.enum([ gen.const("Low",      int_t, 0, "Low is 0"),
                       gen.const("Medium",   int_t, 1, "Medium is 1"),
                       gen.const("High",     int_t, 2, "Hight is 2")],
                     "Select from the list")

gen.add("size", int_t, 0, "Select from the list", 1, 0, 3, edit_method=size_enum)
#生成必要文件并退出
exit(gen.generate(PACKAGE, "hello_ros", "my_cfg"))

#注意包名 以及cfg文件名   尤其是最后一个参数，很关键

chomd a+x cfg/my_cfg.cfg  修改权限

修改CMakeList.txt

find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure）

generate_dynamic_reconfigure_options(
  cfg/my_cfg.cfg
  )

修改package.xml

<build_depend>dynamic_reconfigurebuild_depend>

编写动态配置支持的新节点

#include 
#include 
#include    //my_cfg就是参数配置文件

void callback(hello_ros::my_cfgConfig &config, uint32_t level) {
  ROS_INFO("Reconfigure Request: %d %f %s %s %d", 
            config.int_param, config.double_param, 
            config.str_param.c_str(), 
            config.bool_param?"True":"False", 
            config.size);
}

int main(int argc, char **argv) {
  ros::init(argc, argv, "dynamic_recfig_node");

  dynamic_reconfigure::Server::my_cfgConfig> server;
  dynamic_reconfigure::Server::my_cfgConfig>::CallbackType ff;

  ff = boost::bind(&callback, _1, _2);
  server.setCallback(f);
//当参数服务器得到重新配置参数的请求，就会调用回调函数
  ROS_INFO("Spinning node");
  ros::spin();
  return 0;
}