步骤：
catkin_create_pkg package_name rospy roscpp dynamic_reconfigure mkdir cfg cd cfg
- 新建dynamic_controller.cfg文件: ``` #!/usr/bin/env python # -- coding: utf-8 -- PACKAGE = “gl8_controller_test”
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# 参数名，参数类型，级别，描述，缺省值，最小值，最大值
gen.add("speed_ref", double_t, 0, "the speed of gl8", 1.0, 0.1, 1.5)
# 参数2:cfg文件依附的节点名;参数3是生成头文件名称的前缀，要和.cfg文件的名字一致
exit(gen.generate(PACKAGE, "gl8_controller_test", "dynamic_controller")) ``` > chmod a+x cfg/dynamic_controller.cfg
在CmakeLists里面加如下内容
generate_dynamic_reconfigure_options(
cfg/dynamic_controller.cfg
)
add_dependencies(example_node ${PROJECT_NAME}_gencfg)
在package.xml文件里加
<build_depend>dynamic_reconfigure</build_depend>
<exec_depend>dynamic_reconfigure</exec_depend>
编写Node
#include <ros/ros.h>
#include <std_msgs/Float32.h>
#include <geometry_msgs/Twist.h>
#include <gl8_controller_test/gl8_controller_cmd.h>
#include <gl8_controller_test/dynamic_controllerConfig.h>
#include <dynamic_reconfigure/server.h>
gl8_controller_test::gl8_controller_cmd ctrl_cmd;
void ConfigCb(gl8_controller_test::dynamic_controllerConfig &config, uint32_t level){
ROS_INFO("arguements are changed!");
ctrl_cmd.speed_ref = config.speed_ref;
}
int main(int argc, char **argv){
ros::init(argc, argv, "gl8_controller_test");
ros::NodeHandle nh;
ros::Publisher ctrl_cmd_pub = nh.advertise<gl8_controller_test::gl8_controller_cmd> ("ctrl_cmd", 1000);
ros::Rate loop_rate(10);
/*dynamic config*/
dynamic_reconfigure::Server<gl8_controller_test::dynamic_controllerConfig> server;
dynamic_reconfigure::Server<gl8_controller_test::dynamic_controllerConfig>::CallbackType f;
f = boost::bind(&ConfigCb, _1, _2);
server.setCallback(f);
nh.param<double>("speed_ref", ctrl_cmd.speed_ref, 0.3);
nh.setParam("speed_ref", 0.4);
nh.getParam("speed_ref", ctrl_cmd.speed_ref);
//ctrl_cmd.speed_ref = 1.0;
//speed_ref = 1.0; // m/s
while (ros::ok) {
ros::spinOnce();
ROS_INFO_STREAM("speed_ref: " << ctrl_cmd.speed_ref);
ctrl_cmd_pub.publish(ctrl_cmd);
loop_rate.sleep();
}
}
