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

This package requires at least C++11. If you have cmake version at least 3.1 the easiest way to do it is: set (CMAKE_CXX_STANDARD 11)

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;
 }

Registering variables in a private namespace “ddynamic_tutorials/other_namespace/int_param”:

#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("~/other_namespace");
    ddynamic_reconfigure::DDynamicReconfigure ddr(nh);

    int int_param = 0;
    ddr.registerVariable<int>("int_param", &int_param, "param description");
    ddr.publishServicesTopics();
    
    ros::spin();
    return 0;
}

Same scenario, but with the NodeHandle created after the ddr instantiation:

#include <ros/ros.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure.h>

std::unique_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddr;
int main(int argc, char **argv) {
    // ROS init stage
    ros::init(argc, argv, "ddynamic_tutorials");
    ros::NodeHandle nh("~/other_namespace");

    ddr.reset(new ddynamic_reconfigure::DDynamicReconfigure(nh));
    int int_param = 0;
    ddr->registerVariable<int>("int_param", &int_param, "param description");
    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

0.4.1 (2021-01-18)

• Merge branch 'atomic-fix' into 'erbium-devel' Fix missing atomic header See merge request control/ddynamic_reconfigure!19
• Fix missing atomic header
• Update README about c++11 requirements
• Contributors: Adria Roig, Victor Lopez, victor

0.4.0 (2021-01-12)

• Merge branch 'cosmetic_fixes' into 'erbium-devel' update clang format styling See merge request control/ddynamic_reconfigure!17
• Merge branch 'rt_thread_safe' into 'cosmetic_fixes' Rt thread safe See merge request control/ddynamic_reconfigure!18
• update assignValue method to pass every arg by const reference
• remove the deferred async from tests
• fix to update the configuration data proper way
• minor fixes to the method documentation
• update assignValue function to pass string by const reference
• Added tests for the manual update of registered variables data
• Added updateRegisteredVariablesData method to update the registered variables
• Don't update the config if manual update is chosen
• added auto_update option to the constructor
• added updateConfigData method
• changed the methods to be virtual
• update clang format styling
• Contributors: Sai Kishor Kothakota, victor

0.3.2 (2020-10-27)

• Merge branch 'pointer-with-callback' into 'erbium-devel' Add new function that takes pointer and a callback See merge request control/ddynamic_reconfigure!16
• Add new function that takes pointer and a callback
• Contributors: Victor Lopez, victor

0.3.1 (2020-10-08)

• Merge pull request #18 from clearpathrobotics/issue_17 Reverse the order of creation of the topic publisher and rosservice
• Reverse the order of creation of the topic publisher and rosservice to prevent startup race conditions leading to crash. issue: #17
• Contributors: Guillaume Autran, Victor Lopez

0.3.0 (2020-05-04)

• Merge pull request #12 from eurogroep/feat/groups feat(groups): Option to specify a group for a variable
• feat(groups): Option to specify a group for a variable The group "Default" will be set as default so no behavior will change. However, this commit will break ABI / API compatibility.
• Contributors: Rein Appeldoorn, Victor Lopez

0.2.3 (2020-04-10)

• Merge pull request #10 from ooeygui/kinetic-devel Support Windows
• Windows support
• Fix for Windows
• Fix getMax(), wrong numeric_limit
• Add example for DDR with NodeHandle
• Merge pull request #7 from reinzor/patch-1 Update README.md - show proper heading
• Update README.md
• Contributors: Lou Amadio, Rein Appeldoorn, Victor Lopez

0.2.2 (2019-09-04)

• Add SYSTEM include_directories
• Contributors: Victor Lopez

0.2.1 (2019-08-28)

• Merge branch 'fix-double-comparison' into 'erbium-devel' Fix double comparison See merge request control/ddynamic_reconfigure!14
• Fix double comparison
• Add BSD License text
• Contributors: Victor Lopez

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)

• Added license and documentation
• Contributors: Hilario Tome

0.0.2 (2015-05-25)

• Added min and max value specification when registering a variable
• Contributors: Hilario Tome

0.0.1 (2015-01-26)

• fix author, mantainer
• move ddynamic reconfigure to standalone repo
• Prepare ddynamic_reconfigure for standalone package
• Added safe header
• Added test folder
• Fixed a bug when generating the config description, the int vector was being used in the bool part
• Added typedef for ddreconfigure
• Bug fix, now the parameters can be seen in dynamic reconfigure even if they have changed from c++
• Updated DDynamic reconfigure to published updated values persistently
• Added working momentum task
• Fixed bug, wrong return statement
• Fixed export
• Fixed bug in ddynamic reconfigure and its CmakeFile
• Minor changes to add the abstract reference to the goto dynamic tasks
• Dynamics wbc is working again (Really slowly with uquadprog) visualization of torques and partially of forces (also partial force integration)
• Added DDyanmic_reconfigure package, a way to have dynamic reconfigure functionality without a cfg
• Contributors: Hilario Tome, Luca Marchionni