編碼
vim nodes/client.py
#!/usr/bin/env python
PACKAGE = 'dynamic_tutorials'
import roslib;roslib.load_manifest(PACKAGE)
import rospy
import dynamic_reconfigure.client
def callback(config):
rospy.loginfo("Config set to {int_param}, {double_param}, {str_param}, {bool_param}, {size}".format(**config))
if __name__ == "__main__":
rospy.init_node("dynamic_client")
client = dynamic_reconfigure.client.Client("dynamic_tutorials", timeout=30, config_callback=callback)
r = rospy.Rate(0.1)
x = 0
b = False
while not rospy.is_shutdown():
x = x+1
if x>10:
x=0
b = not b
client.update_configuration({"int_param":x, "double_param":(1/(x+1)), "str_param":str(rospy.get_rostime()), "bool_param":b, "size":1})
r.sleep()
chmod +x nodes/client.py
運(yùn)行程序
rosrun dynamic_tutorials server.py
rosrun rqt_gui rqt_gui -s reconfigure
rosrun dynamic_tutorials client.py
