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<node pkg="dynamic_reconfig" name="dynamic_server" type="dynamic_server.py" output="screen"/>

• Change spesific defined config
• Cnange many configs at a time
• Change parameters from *.yaml

• test service only

rosservice call /DynamicUpdate  "{node_name: ['/move_base/global_costmap/inflation_layer/'], config_name: ['inflation_radius'], config_type: ['float'], new_config: ['40.0']}"

• using self-test node
  • the node is used for show how to use the client api
  • It can only change the inflation radius temporarily
  • The below command would change the radius to 30.0

rosrun dynamic_reconfig dynamic_reconfig_client_test_node 0 30.0

• See dynamic_reconfig_client_test.cpp

dynamic_update_define:
  scenario_list:
   - local_planner_scenario_1
   - local_planner_scenario_2
   - inflation_scenario_1
   - inflation_scenario_2

local_planner_scenario_1:
  node_name: "/move_base/DWAPlannerROS/"
  float_configs:
    max_vel_x: 0.60
    min_vel_x: 0.07
    max_vel_y: 0.4
    min_vel_y: -0.4

local_planner_scenario_2:
  node_name: "/move_base/DWAPlannerROS/"
  float_configs:
    max_vel_x: 0.45
    min_vel_x: 0.01
    max_vel_y: 0.2
    min_vel_y: -0.2
    
inflation_scenario_1:
  node_name: "/move_base/global_costmap/inflation_layer/"
  bool_configs:
    enabled: 1
  float_configs:
    inflation_radius: 12.5

inflation_scenario_2:
  node_name: "/move_base/global_costmap/inflation_layer/"
  bool_configs:
    enabled: 0
  float_configs:
    inflation_radius: 40.0

dynamic_update_define:
  scenario_list:
   - local_planner_scenario_1
   - local_planner_scenario_2
   - inflation_scenario_1
   - inflation_scenario_2

1. I will find the scenario names under "dynamic_update_define/scenario_list"
2. Each Scenario names shows the group of parameters under the same node name

local_planner_scenario_1:
  node_name: "/move_base/DWAPlannerROS/"
  float_configs:
    max_vel_x: 0.60
    min_vel_x: 0.07
    max_vel_y: 0.4
    min_vel_y: -0.4

inflation_scenario_2:
  node_name: "/move_base/global_costmap/inflation_layer/"
  bool_configs:
    enabled: 0
  float_configs:
    inflation_radius: 40.0

1. For each scenario, it has two kind of parameters. One is the node_name, and the other is $(Type)_configs
2. The node_name will guide us to the right dynamic server.
3. There are 4 types in $(Type)_configs, which are "float_configs", "bool_configs", "int_configs" and "string_configs"
4. The usage is easy. All we have to do is add the config name and value under the right type tag.
5. e,g, I put "max_vel_x: 0.60" under "float_configs:", and "enabled: 0" under "bool_configs:"

After setting the yaml, we have to add the parameters into rosparam server

There are two ways:

• rosparam load dynamic_update_config_alter.yaml
• <rosparam file="dynamic_update_config_alter.yaml" command="load"/>

It can change parameter by using the scenario names.

See dynamic_reconfig_client_test.cpp for the detail.

Note: at "} else if (atoi(argv[1]) == 4) {"