ros使用动态参数(dynamic_reconfigure)

古月居的http://www.guyuehome.com/1173

注意的几点:

1.包含config文件的头文件时,名字后面要加Config,如名字叫dynamic,则#include<Package_name/dynamicConfig.h>

2.cmakelists里要加入如下几项

find_package(catkin REQUIRED COMPONENTS

dynamic_reconfigure

roscpp

rospy

)

#add dynamic reconfigure api

generate_dynamic_reconfigure_options(

cfg/dynamic.cfg

)

add_executable(dynamic_node

src/dynamic_node.cpp

)

add_dependencies(dynamic_node

${${PROJECT_NAME}_EXPORTED_TARGETS}

${catkin_EXPORTED_TARGETS}

${PROJECT_NAME}_gencfg

)

target_link_libraries(ptz_angle_pub

${catkin_LIBRARIES}

)

3.服务端cpp程序中同样要使用dynamicConfig而不是dynamic

如 package_name::pitchConfig

而不是package_name::pitch