ros_demo系列——dynamic reconfigure

dynamic reconfigure

该功能能方便开发者进行参数的动态调整，方便在线跳参
注：该文章基本是对别人的东西进行搬运，后续看别的成熟的开发源码再进行补充

参考网站：
https://www.ncnynl.com/archives/201807/2509.html
https://zhuanlan.zhihu.com/p/39899955

• 文件目录结构
  

• 添加的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"))

记得添加权限$ chmod a+x cfg/Tutorials.cfg

• 添加的server.cpp

#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;
}

• 修改的CmakeList.txt

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

#...

# 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})

demo在以下网址

• https://github.com/SwordSS/ros_demo