Robot Operating System Cookbook

How to do it…

1. To use the Dynamic Reconfigure utility, we will write a configuration file and save it in the cfg folder in the intended package.
2. Create the cfg folder and a parameter_server_tutorials.cfg file there in the parameter_server_tutorials package, as follows:

$ roscd parameter_server_tutorials 
$ mkdir cfg 
$ vim parameter_server_tutorials 

3. We will add the following code in the parameter_server_tutorials.cfg file:

#!/usr/bin/env python PACKAGE = "parameter_server_tutorials" from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() gen.add("BOOL_PARAM", bool_t, 0,"A Boolean parameter", True) gen.add("INT_PARAM", int_t, 0, "An Integer Parameter", 1, 0, 100) gen.add("DOUBLE_PARAM", double_t, 0, "A Double ...