ROS动态参数设置 dynamic reconfigure

在调试程序时， 为了能够方便的更改参数，可以运行

rosrun rqt_reconfigure rqt_reconfigure

为了将参数加入其中，一般步骤如下：

1. 创建配置文件cfg/Tutorials.cfg

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

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
gen.add("double_param", double_t, 0, "A double parameter",    .5, 0,   1)
gen.add("str_param",    str_t,    0, "A string parameter",  "Hello World")
gen.add("bool_param",   bool_t,   0, "A Boolean parameter",  True)

size_enum = gen.enum([ gen.const("Small",      int_t, 0, "A small constant"),
                      gen.const("Medium",     int_t, 1, "A medium constant"),
                      gen.const("Large",      int_t, 2, "A large constant"),
                      gen.const("ExtraLarge", int_t, 3, "An extra large constant")], "An enum to set size")

gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)

exit(gen.generate(PACKAGE, "dynamic_tutorials", "Tutorials"))

2.添加可执行权限

sudo chmod a+x cfg/Tutorials.cfg

3.在CMakeLists.txt中添加

#add dynamic reconfigure api
generate_dynamic_reconfigure_options(
  cfg/Tutorials.cfg
  #...
)

# make sure configure headers are built before any node using them
add_dependencies(dynamic_reconfigure_node ${PROJECT_NAME}_gencfg)

4.如何在程序中使用

   包含头文件

#include <dynamic_reconfigure/server.h>
#include <dynamic_tutorials/TutorialsConfig.h>

创建服务器和调用回调函数

    dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig> server;
    dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig>::CallbackType f;

    f = boost::bind(&callback, _1, _2);
    server.setCallback(f);

回调函数

void callback(dynamic_tutorials::TutorialsConfig &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);
}

5.编译运行

# for dynamic reconfigure
add_executable(dynamic_reconfigure_node src/server.cpp)

# make sure configure headers are built before any node using them
add_dependencies(dynamic_reconfigure_node ${PROJECT_NAME}_gencfg)

# for dynamic reconfigure
target_link_libraries(dynamic_reconfigure_node ${catkin_LIBRARIES})

完整代码

#include <ros/ros.h>

#include <dynamic_reconfigure/server.h>
#include <dynamic_tutorials/TutorialsConfig.h>

void callback(dynamic_tutorials::TutorialsConfig &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_tutorials");

    dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig> server;
    dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig>::CallbackType f;

    f = boost::bind(&callback, _1, _2);
    server.setCallback(f);

    ROS_INFO("Spinning node");
    ros::spin();
    return 0;
}

参考链接http://www.guyuehome.com/1173