ROS dynamic parameters

客户端实现 dr.cfg

本质上是Python文件

#! /usr/bin/env python
"""
    Dynamic parameter client:
        1. 导包
        2. Create a parameter producer
        3. Add parameters to the generator
        4. 配置节点,并退出
"""
# Import the function package corresponding to the parameter server
from dynamic_reconfigure.parameter_generator_catkin import *

    # 2. Create a parameter producer
    gen = ParameterGenerator()
    # 3. Add parameters to the generator
    # add(name, paramtype, level, description, default=None, min=None, max=None, edit_method="")
    gen.add("int_param",int_t,0,"整数参数",10,1,100)
    # 4. 配置节点,并退出
    # generate(pkgname, nodename, name)
    exit(gen.generate("demo02_dr","dr_client","dr"))

Dynamic parameter server C++

/* Dynamic parameter server process: 1. 包含头文件 2. 初始化操作 3. 创建服务端对象 4. The callback function parses the modified parameters 5. spin() */
#include"ros/ros.h"
#include"dynamic_reconfigure/server.h"
#include"demo02_dr/drConfig.h"

void cb(demo02_dr::drConfig &config, uint32_t level)
{
    
    ROS_INFO("The modified integer data is: %d",config.int_param);
}

int main(int argc, char *argv[])
{
    
    // 2. 初始化操作
    setlocale(LC_ALL,"");
    ros::init(argc,argv,"dr_server");
    // 3. 创建服务端对象
    dynamic_reconfigure::Server<demo02_dr::drConfig> server;
    // 4. The callback function parses the modified parameters
    // void setCallback(const boost::function<void (demo02_dr::drConfig &, uint32_t level)> &callback)
    server.setCallback(boost::bind(&cb,_1,_2));
    // 5. spin()
    ros::spin();
    return 0;
}

Dynamic parameter server Python

#! /usr/bin/env python
""" Dynamic parameter server: Print directly when the parameter is modified 实现流程: 1.导包 2.初始化 ros 节点 3.创建服务端对象 4.Callback function parsing function 5.spin """

import rospy
from dynamic_reconfigure.server import Server
from demo02_dr.cfg import drConfig

# 回调函数
def cb(config,level):
    rospy.loginfo("python Dynamic parameter service resolution:%d,%.2f,%d,%s,%d",
            config.int_param,
            config.double_param,
            config.bool_param,
            config.string_param,
            config.list_param
    )
    return config

if __name__ == "__main__":
    # 2.初始化 ros 节点
    rospy.init_node("dr_server_p")
    # 3.创建服务端对象
    # Server(type, callback, namespace="")
    # type是类型 callback 回调函数
    server = Server(drConfig,cb)
    # 4.Callback function parsing function
    # 5.spin
    rospy.spin()