Setting dynamic parameters

If a node implements a dynamic reconfigure parameter server, we can use rqt_reconfigure to modify them 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 table list, 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 source code, which checks for the validity of the values. In this example, the parameters are printed every time they are changed, that is, when the callback method is executed. The following screenshot encapsulates this discussion:

Dynamic parameters were originally meant for drivers, so it was easy to modify them...