#ddynamic_reconfigure

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.

Usage

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;
 }

Issues

Undefined reference to registerVariable or registerEnumVariable

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.

Changelog for package ddynamic_reconfigure

0.2.0 (2019-03-21)

• Merge branch 'refactor-functions' into 'erbium-devel' Accept functions callback per individual variable See merge request control/ddynamic_reconfigure!12
• Extend readme
• Add string and cleanup implementation
• Add enums and callbacks
• Accept functions callback per individual variable
• Contributors: Victor Lopez

0.1.7 (2019-03-20)

• Merge branch 'fix-gmock-dependency' into 'erbium-devel' Rename gmock dependency for public release See merge request control/ddynamic_reconfigure!11
• Rename gmock dependency for public release
• Contributors: Victor Lopez

0.1.6 (2018-12-11)

• Merge branch 'ddr_debug_msg' into 'erbium-devel' changed info msg to debug See merge request control/ddynamic_reconfigure!10
• changed info msg to debug
• Change license to BSD
• Remove internal build system link
• Contributors: Hilario Tome, Victor Lopez

0.1.5 (2018-10-09)

• Merge branch 'fix-test' into 'erbium-devel' Fix test See merge request control/ddynamic_reconfigure!9
• Fix comment regarding spin_thread
• Fix failing test due to removal of spin_thread
• Contributors: Victor Lopez

0.1.4 (2018-09-17)

• Merge branch 'fix-spammy' into 'erbium-devel' Only publish when variables has changed See merge request control/ddynamic_reconfigure!8
• Only publish when variables has changed
• Contributors: Hilario Tome, Victor Lopez

0.1.3 (2018-09-14)

• Reduce update frequency to 10second
• Contributors: Victor Lopez

0.1.2 (2018-09-12)

• Merge branch 'add-auto-publish' into 'erbium-devel' Add auto publish of updates values to ddynamic_reconfigure See merge request control/ddynamic_reconfigure!7
• Add auto publish of updates values to ddynamic_reconfigure
• Contributors: Hilario Tome, Victor Lopez

0.1.1 (2018-07-26)

• Merge branch 'fix-test-crash' into 'erbium-devel' Fix test crash See merge request control/ddynamic_reconfigure!6
• Fix uninitialized variables
• Use gmock properly
• fixed merge request
• fixed merge
• Fix service response
• Contributors: Hilario Tome, Victor Lopez

0.1.0 (2018-01-15)

• formating
• made private unnecesary functions
• Merge branch 'dubnium-devel' of gitlab:control/ddynamic_reconfigure into dubnium-devel
• Formating
• Add new file
• Contributors: Hilario Tome

0.0.5 (2016-04-14)

• Merge branch 'user-callback' into 'dubnium-devel' User callback Remember that we have to re release everyone who depends on this since it breaks API. See merge request !1
• Add test for double param
• Add hack to have namespaced DdynamicReconfigure, for easier migration
• Add user callback and unit tests
• Migrate package to format 2
• Contributors: Hilario Tome, Victor Lopez

0.0.4 (2016-03-07)

• Added destructor, fixed bug
• Added to dynamic reconfigure to parse from param server the initial value if it is availlable
• Contributors: Hilario Tome

0.0.3 (2015-06-10)

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