ROS 下动态参数 .cfg 的配置与实现

功能简介

动态配置文件 (dynamic_reconfigure) 提供了一种将 ros 节点内的参数暴露出来的方式。该接口可以让用户在节点运行时通过客户端动态的调整参数，实时的观察特定参数参数对节点内算法的影响。

常用命令

rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

命令行工具

$ rosrun dynamic_reconfigure dynparam list  # list configureable nodes 
$ rosrun dynamic_reconfigure dynparam get # get node configuration
$ rosrun dynamic_reconfigure dynparam set # configure node
$ rosrun dynamic_reconfigure dynparam set_from_parameters # copy configuration from parameter server
$ rosrun dynamic_reconfigure dynparam sdynparam dump # dump configuration to file
$ rosrun dynamic_reconfigure dynparam sdynparam load # load configuration from file

详细介绍可以参考：【链接】【教程 tutorial】

code 实现

创建 .cfg 文件

catkin_create_pkg --rosdistro ROSDISTRO dynamic_tutorials rospy roscpp dynamic_reconfigure
mkdir cfg

#!/usr/bin/env python
PACKAGE = "dynamic_tutorials"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
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"))

增加可执行权限

chmod a+x cfg/Tutorials.cfg

修改 cmakelist.txt

#add dynamic reconfigure api
#find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
  cfg/Tutorials.cfg
  #...
)

# make sure configure headers are built before any node using them
add_dependencies(example_node ${PROJECT_NAME}_gencfg)

【原文链接】

c++ node 调用

#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;
   
  // bind 是一组重载的函数模板.用来向一个函数(或函数对象)绑定某些参数.bind的返回值是一个函数对象.
  f = boost::bind(&callback, _1, _2);
  server.setCallback(f);

  ROS_INFO("Spinning node");
  ros::spin();
  return 0;
}

【boost::bind用法】
【原文链接】

------------ 2020 .2 .12 ------------

----------- Turku . Finland -----------