パラチュン用dynamic_reconfigureの使い方
dynamic_reconfigureの使い方
- Tutorial.cfgファイルの作成
#!/usr/bin/env python PACKAGE = "dynamic_tutorials" # package name from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100) # name , type , level ,description , default ,min ,max gen.add("double_param", double_t, 0, "A double parameter", .5, 0, 1) gen.add("str_param", str_t, 0, "A string parameter", "Hello World") gen.add("bool_param", bool_t, 0, "A Boolean parameter", True) size_enum = gen.enum([ gen.const("Small", int_t, 0, "A small constant"), gen.const("Medium", int_t, 1, "A medium constant"), gen.const("Large", int_t, 2, "A large constant"), gen.const("ExtraLarge", int_t, 3, "An extra large constant") ], "An enum to set size") gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum) exit(gen.generate(PACKAGE, "dynamic_tutorials", "Tutorials")) # 2:package_name 3:cfg_file_name
- 実行可能な状態に
chmod a+x cfg/Tutorials.cfg
- CmakeLists.txtに以下を追加
#add dynamic reconfigure api find_package(catkin REQUIRED dynamic_reconfigure) generate_dynamic_reconfigure_options(relative_path_to_file1 relative_path_to_file2 ...) # make sure configure headers are build before node using them add_dependencies(example_node dynamic_tutorials_gencfg)
- package.xmlにもgenerate_dynamic_reconfigureを追記
nodeの作り方
python
#!/usr/bin/env python import rospy from dynamic_reconfigure.server import Server from dynamic_tutorials.cfg import TutorialsConfig def callback(config, level): rospy.loginfo("""Reconfigure Request: {int_param}, {double_param},\ {str_param}, {bool_param}, {size}""".format(**config)) return config if __name__ == "__main__": rospy.init_node("dynamic_tutorials", anonymous = True) srv = Server(TutorialsConfig, callback) rospy.spin()
参考
# ディクショナリで指定する場合はアンパックすればよい >>> d = {"name": "John", "age": 20} >>> "My name is {name}. I'm {age} years old.".format(**d) #アンパックしてキーワード引数に "My name is John. I'm 20 years old."
- configは辞書?
dict = {"yamada":75, "endou":82} value = dict["yamada"]
C++
#include <ros/ros.h> #include <dynamic_reconfigure/server.h> #include <dynamic_tutorials/TutorialsConfig.h> void callback(dynamic_tutorials::TutorialsConfig &config, uint32_t level) { ROS_INFO("Reconfigure Request: %d %f %s %s %d", config.int_param, config.double_param, config.str_param.c_str(), config.bool_param?"True":"False", config.size); } int main(int argc, char **argv) { ros::init(argc, argv, "dynamic_tutorials"); dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig> server; dynamic_reconfigure::Server<dynamic_tutorials::TutorialsConfig>::CallbackType f; f = boost::bind(&callback, _1, _2); server.setCallback(f); ROS_INFO("Spinning node"); ros::spin(); return 0; }
- 実行
$ rosrun rqt_reconfigure rqt_reconfigure
参考
ja/dynamic_reconfigure/Tutorials/HowToWriteYourFirstCfgFile - ROS Wiki