ROSNOTE : dynamic reconfigure 动态调参

本文参考于：https://blog.csdn.net/u014610460/article/details/79531616#commentBox

目前官网给出的例程实现dynamic_reconfigure的客户端只给出了python例程，而服务端给了c++和python两种方法的实现。

后来查看了下dynamic_reconfigure的源码，发现在头文件中包含了client.h文件，仔细研究了下，并对比了server.h文件，发现包含该文件即可用C++实现dynamic_reconfigure的客户端。

 

服务端 ：python 、C++

客户端：python,现在要自己写一个C++的

---

另外的例子：https://www.corvin.cn/651.html

演示：控制旋转的速度

代码：

1、cfg文件 （记得赋权）

#!/usr/bin/env python
# _*_ coding:utf-8 _*_ 
PACKAGE = "dynamic_reconfigure_pid"
     
from dynamic_reconfigure.parameter_generator_catkin import *
     
gen = ParameterGenerator()
     
gen.add("cmd_topic",    str_t,    0, "turtlesim cmd topic name", "/turtle1/cmd_vel")
gen.add("cmd_pub_rate", int_t,    0, "turtlesim cmd pub rate", 1, 0, 5)
gen.add("linear_x",     double_t, 0, "turtlesim linear.x", 1.0, 0.5, 3.0)
gen.add("angular_z",    double_t, 0, "turtlesim angular.z", 1.0, 0.5, 3.0)
gen.add("move_flag",    bool_t,   0, "turtlesim whether move or not", True )
     
log_enum = gen.enum([ gen.const("info", int_t, 0, "log print flag:INFO"),
                          gen.const("warn", int_t, 1, "log print flag:WARN"),
                          gen.const("error", int_t, 2, "log print flag:ERROR")],
                          "Set Log Level")
gen.add("log_level", int_t, 0, "Set Log Level", 0, 0, 2, edit_method=log_enum)
     
exit(gen.generate(PACKAGE, "turtlesim_dynamic_node", "dynamic"))

exit()用于生成所有C++和Python相关的文件并且退出程序，这里第二个参数表示动态参数运行的节点名，第三个参数是生成文件所使用的前缀，需要和配置文件名相同。

2、turtlesim_dynamic.cpp

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure_pid/dynamicConfig.h>
 
using namespace std;
 
string cmd_topic = "/turtle1/cmd_vel";
int loop_rate = 1;
double linear_x = 1.0;
double angular_z = 1.0;
bool move_flag = true;
int log_level= 0;
 
void dynamic_callback(turtlesim_dynamic::dynamicConfig &config)
{
    ROS_INFO("Reconfigure Request: %s %d %f %f %s %d",
            config.cmd_topic.c_str(),
            config.cmd_pub_rate,
            config.linear_x,
            config.angular_z,
            config.move_flag?"True":"False",
            config.log_level);
 
    cmd_topic = config.cmd_topic;
    loop_rate = config.cmd_pub_rate;
    linear_x  = config.linear_x;
    angular_z = config.angular_z;
    move_flag = config.move_flag;
    log_level = config.log_level;
}
 
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "turtlesim_dynamic_node");
    ros::NodeHandle handle;
 
    dynamic_reconfigure::Server<turtlesim_dynamic::dynamicConfig> server;
    dynamic_reconfigure::Server<turtlesim_dynamic::dynamicConfig>::CallbackType callback;
 
    callback = boost::bind(&dynamic_callback, _1);
    server.setCallback(callback);
 
    ros::Publisher cmdVelPub;
    geometry_msgs::Twist speed;
 
    while(ros::ok())
    {
        cmdVelPub = handle.advertise<geometry_msgs::Twist>(cmd_topic, 1);
        ros::Rate rate(loop_rate);
        if(move_flag)
        {
            speed.linear.x  = linear_x;
            speed.angular.z = angular_z;
            cmdVelPub.publish(speed);
 
            switch(log_level)
            {
                case 0:
                    ROS_INFO("log level: INFO, cmd_pub_rate: %d", loop_rate);
                    break;
                case 1:
                    ROS_WARN("log level: WARN, cmd_pub_rate: %d", loop_rate);
                    break;
                case 2:
                    ROS_ERROR("log level: ERROR, cmd_pub_rate: %d", loop_rate);
                    break;
                default:
                    break;
            }
        }
        ros::spinOnce();
        rate.sleep();
    }
}

3、CMakeLists.txt  （修改的地方）

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  dynamic_reconfigure
)

 generate_dynamic_reconfigure_options(
   cfg/dynamic.cfg
 )



add_executable(turtlesim_dynamic_node src/turtlesim_dynamic.cpp)
add_dependencies(turtlesim_dynamic_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(turtlesim_dynamic_node ${catkin_LIBRARIES})

 4、turtlesim_dynamic.launch

<launch>
  <node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node" output="screen" />
  <node pkg="dynamic_reconfigure_pid" type="turtlesim_dynamic_node" name="turtlesim_dynamic_node" output="screen" />
  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" output="screen" />
</launch>

5、运行：roslaunch dynamic_reconfigure_pid turtlesim_dynamic.launch

 

---

可以参考着写一个调节PID的例子

PS：别人的一个界面，没有代码，可以看看