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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Setting dynamic parameters

If a node implements a dynamic reconfigure parameter server, we can use rqt_reconfigure to modify it on the fly. Run the following example, which implements a dynamic reconfigure server with several parameters (see the cfg file in the cfg folder of the package):

$ roslaunch chapter3_tutorials example6.launch

With the dynamic reconfigure server running, open the GUI with the following command:

$ rosrun rqt_reconfigure rqt_reconfigure

Select the example6 server in the left-hand side panel, and you will see its parameters, which you can modify directly. The parameter changes take effect immediately, running the code inside a callback method in the example source code, which checks for the validity of the values. In this ...

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