The ddynamic_reconfigure package is a C++ extension of dynamic_reconfigure that allows modifying parameters of a ROS node using the dynamic_reconfigure framework without having to write cfg files.
This package requires at least C++11.
If you have cmake version at least 3.1 the easiest way to do it is:
set (CMAKE_CXX_STANDARD 11)
Modifying in place a variable:
#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>
int main(int argc, char **argv) {
// ROS init stage
ros::init(argc, argv, "ddynamic_tutorials");
ros::NodeHandle nh;
ddynamic_reconfigure::DDynamicReconfigure ddr;
int int_param = 0;
ddr.registerVariable<int>("int_param", &int_param, "param description");
ddr.publishServicesTopics();
// Now parameter can be modified from the dynamic_reconfigure GUI or other tools and the variable int_param is updated automatically
int_param = 10; //This will also update the dynamic_reconfigure tools with the new value 10
ros::spin();
return 0;
}Modifying a variable via a callback:
#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>
int global_int;
void paramCb(int new_value)
{
global_int = new_value;
ROS_INFO("Param modified");
}
int main(int argc, char **argv) {
// ROS init stage
ros::init(argc, argv, "ddynamic_tutorials");
ros::NodeHandle nh;
ddynamic_reconfigure::DDynamicReconfigure ddr;
ddr.registerVariable<int>("int_param", 10 /* initial value */, boost::bind(paramCb, _1), "param description");
ddr.publishServicesTopics();
// Now parameter can be modified from the dynamic_reconfigure GUI or other tools and the callback is called on each update
ros::spin();
return 0;
}Registering an enum:
#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>
int main(int argc, char **argv) {
// ROS init stage
ros::init(argc, argv, "ddynamic_tutorials");
ros::NodeHandle nh;
ddynamic_reconfigure::DDynamicReconfigure ddr;
std::map<std::string, std::string> enum_map = {{"Key 1", "Value 1"}, {"Key 2", "Value 2"}};
std::string enum_value = enum_map["Key 1"];
ddr.registerEnumVariable<std::string>("string_enum", &enum_value,"param description", enum_map);
ddr.publishServicesTopics();
ros::spin();
return 0;
}Registering variables in a private namespace "ddynamic_tutorials/other_namespace/int_param":
#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>
int main(int argc, char **argv) {
// ROS init stage
ros::init(argc, argv, "ddynamic_tutorials");
ros::NodeHandle nh("~/other_namespace");
ddynamic_reconfigure::DDynamicReconfigure ddr(nh);
int int_param = 0;
ddr.registerVariable<int>("int_param", &int_param, "param description");
ddr.publishServicesTopics();
ros::spin();
return 0;
}Same scenario, but with the NodeHandle created after the ddr instantiation:
#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>
std::unique_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddr;
int main(int argc, char **argv) {
// ROS init stage
ros::init(argc, argv, "ddynamic_tutorials");
ros::NodeHandle nh("~/other_namespace");
ddr.reset(new ddynamic_reconfigure::DDynamicReconfigure(nh));
int int_param = 0;
ddr->registerVariable<int>("int_param", &int_param, "param description");
ddr->publishServicesTopics();
ros::spin();
return 0;
}These methods are templated, but the implementation is hidden, and there are explicit template instantiations for int, bool, double and std::string. If you are getting an undefined reference to one of these methods, make sure that you are passing parameters of this type.
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