Another utility in ROS is the Dynamic Reconfigure utility. Normally, when you are programming a new node, you initialize the variables with data that can only be changed within the node. If you want to change these values dynamically from outside the node, you can use Parameter Server, services, or topics. If you are working in a PID node to control a motor, for example, you should use the Dynamic Reconfigure utility.
In this section, you will learn how to configure a basic node with this feature. Add the necessary lines in the CMakeLists.txt and package.xml files.
To use Dynamic Reconfigure, you should write a configuration file and save it in the cfg folder in your package. Create the folder and a new file as follows: ...
