The DDynamicReconfigure class allows to use ROS dynamic reconfigure without the need to write a custom cpf file, variables are registered and exposed at run time. Modification of the variables is done through a variable pointer or through a callback function. More...

#include <ddynamic_reconfigure.h>

Public Types
typedef boost::function< void()>	UserCallbackType

Public Member Functions
virtual void	clearPostUpdateCallback ()

virtual void	clearPreUpdateCallback ()

virtual void	clearUserCallback ()

	DDynamicReconfigure (const ros::NodeHandle &nh=ros::NodeHandle("~"), bool auto_update=true)

template<>
std::vector< std::unique_ptr< RegisteredParam< int > > > &	getRegisteredVector ()

virtual void	publishServicesTopics ()
	publishServicesTopics starts the server once all the needed variables are registered More...

virtual void	PublishServicesTopics ()

template<typename T >
void	registerEnumVariable (const std::string &name, T *variable, const boost::function< void(T value)> &callback, const std::string &description, std::map< std::string, T > enum_dict, const std::string &enum_description, const std::string &group)

template<typename T >
void	registerEnumVariable (const std::string &name, T *variable, const boost::function< void(T)> &callback, const std::string &description, std::map< std::string, T > enum_dict={}, const std::string &enum_description="", const std::string &group="Default")

template<typename T >
void	registerEnumVariable (const std::string &name, T *variable, const std::string &description="", std::map< std::string, T > enum_dict={}, const std::string &enum_description="", const std::string &group="Default")

template<typename T >
void	registerEnumVariable (const std::string &name, T current_value, const boost::function< void(T)> &callback, const std::string &description, std::map< std::string, T > enum_dict={}, const std::string &enum_description="", const std::string &group="Default")

virtual void	RegisterVariable (bool *variable, std::string id)

template<typename T >
void	registerVariable (const std::string &name, T *variable, const boost::function< void(T value)> &callback, const std::string &description="", T min=getMin< T >(), T max=getMax< T >(), const std::string &group="Default")
	registerVariable like the functions above, but with a callback to be called when the variable is changed from the dynamic_reconfigure API. More...

template<typename T >
void	registerVariable (const std::string &name, T *variable, const std::string &description="", T min=getMin< T >(), T max=getMax< T >(), const std::string &group="Default")
	registerVariable register a variable to be modified via the dynamic_reconfigure API. When a change is made, it will be reflected in the variable directly More...

template<typename T >
void	registerVariable (const std::string &name, T current_value, const boost::function< void(T value)> &callback, const std::string &description="", T min=getMin< T >(), T max=getMax< T >(), const std::string &group="Default")
	registerVariable register a variable to be modified via the dynamic_reconfigure API. When a change is made, the callback will be called with the new value. The variable itself is not modified when registered using this method. This method is useful for "dynamic reconfigure variables" that don't have a direct equivalent in the C++ code, such as vector.size(). More...

virtual void	RegisterVariable (double *variable, std::string id, double min=-100, double max=100)

virtual void	RegisterVariable (int *variable, std::string id, int min=-100, int max=100)

virtual void	setPostUpdateCallback (const UserCallbackType &callback)
	setPostUpdateCallback An optional callback that will be called right after any value is changed. More...

virtual void	setPreUpdateCallback (const UserCallbackType &callback)
	setPreUpdateCallback An optional callback that will be called right before any value is changed More...

virtual void	setUserCallback (const UserCallbackType &callback)
	setUserCallback An optional callback that will be called whenever a value is changed. This is equivalent to the setPostUpdateCallback. More...

virtual void	updatePublishedInformation ()

virtual void	updateRegisteredVariablesData ()
	updateRegisteredVariablesData - Method to be called to update the registered variable, incase the auto_update is not choosen More...

virtual	~DDynamicReconfigure ()

Protected Member Functions
virtual dynamic_reconfigure::Config	generateConfig ()

virtual dynamic_reconfigure::ConfigDescription	generateConfigDescription () const

template<typename T >
std::vector< std::unique_ptr< RegisteredParam< T > > > &	getRegisteredVector ()

virtual bool	setConfigCallback (dynamic_reconfigure::Reconfigure::Request &req, dynamic_reconfigure::Reconfigure::Response &rsp)

virtual void	updateConfigData (const dynamic_reconfigure::Config &config)

Protected Attributes
bool	advertised_

bool	auto_update_

std::vector< std::string >	config_groups_

ros::Publisher	descr_pub_

dynamic_reconfigure::Config	last_config_

std::atomic_bool	new_config_avail_

ros::NodeHandle	node_handle_
	setUserCallback Set a function to be called when parameters have changed More...

UserCallbackType	post_update_callback_

UserCallbackType	pre_update_callback_

ros::Timer	pub_config_timer_

std::vector< std::unique_ptr< RegisteredParam< bool > > >	registered_bool_

std::vector< std::unique_ptr< RegisteredParam< double > > >	registered_double_

std::vector< std::unique_ptr< RegisteredParam< int > > >	registered_int_

std::vector< std::unique_ptr< RegisteredParam< std::string > > >	registered_string_

ros::ServiceServer	set_service_

ros::Publisher	update_pub_

dynamic_reconfigure::Config	updated_config_

Detailed Description

The DDynamicReconfigure class allows to use ROS dynamic reconfigure without the need to write a custom cpf file, variables are registered and exposed at run time. Modification of the variables is done through a variable pointer or through a callback function.

Definition at line 51 of file ddynamic_reconfigure.h.

Member Typedef Documentation

◆ UserCallbackType

typedef boost::function<void()> ddynamic_reconfigure::DDynamicReconfigure::UserCallbackType

Definition at line 131 of file ddynamic_reconfigure.h.

Constructor & Destructor Documentation

◆ DDynamicReconfigure()

ddynamic_reconfigure::DDynamicReconfigure::DDynamicReconfigure	(	const ros::NodeHandle &	nh = `ros::NodeHandle("~")`,
		bool	auto_update = `true`
	)

Parameters

nh	the queue associated to this nh should spined() somewhere else
auto_update	- Update the variable values immediately on change by service call. When it is true, it is not Thread Safe. In case it is set to False, updateRegisteredVariablesData method needs to be called to update the registered variables

Definition at line 5 of file ddynamic_reconfigure.cpp.

◆ ~DDynamicReconfigure()

ddynamic_reconfigure::DDynamicReconfigure::~DDynamicReconfigure ( )

virtual

Definition at line 13 of file ddynamic_reconfigure.cpp.

Member Function Documentation

◆ clearPostUpdateCallback()

void ddynamic_reconfigure::DDynamicReconfigure::clearPostUpdateCallback ( )

virtual

Definition at line 341 of file ddynamic_reconfigure.cpp.

◆ clearPreUpdateCallback()

void ddynamic_reconfigure::DDynamicReconfigure::clearPreUpdateCallback ( )

virtual

Definition at line 331 of file ddynamic_reconfigure.cpp.

◆ clearUserCallback()

void ddynamic_reconfigure::DDynamicReconfigure::clearUserCallback ( )

virtual

Definition at line 321 of file ddynamic_reconfigure.cpp.

◆ generateConfig()

dynamic_reconfigure::Config ddynamic_reconfigure::DDynamicReconfigure::generateConfig ( )

protectedvirtual

Definition at line 476 of file ddynamic_reconfigure.cpp.

◆ generateConfigDescription()

dynamic_reconfigure::ConfigDescription ddynamic_reconfigure::DDynamicReconfigure::generateConfigDescription ( ) const

protectedvirtual

Definition at line 361 of file ddynamic_reconfigure.cpp.

◆ getRegisteredVector() [1/2]

template<>

std::vector< std::unique_ptr< RegisteredParam< std::string > > > & ddynamic_reconfigure::DDynamicReconfigure::getRegisteredVector ( )

Definition at line 49 of file ddynamic_reconfigure.cpp.

◆ getRegisteredVector() [2/2]

template<typename T >

std::vector<std::unique_ptr<RegisteredParam<T> > >& ddynamic_reconfigure::DDynamicReconfigure::getRegisteredVector ( )

protected

◆ publishServicesTopics()

void ddynamic_reconfigure::DDynamicReconfigure::publishServicesTopics ( )

virtual

publishServicesTopics starts the server once all the needed variables are registered

Definition at line 20 of file ddynamic_reconfigure.cpp.

◆ PublishServicesTopics()

void ddynamic_reconfigure::DDynamicReconfigure::PublishServicesTopics ( )

virtual

Definition at line 526 of file ddynamic_reconfigure.cpp.

◆ registerEnumVariable() [1/4]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerEnumVariable	(	const std::string &	name,
		T *	variable,
		const boost::function< void(T value)> &	callback,
		const std::string &	description,
		std::map< std::string, T >	enum_dict,
		const std::string &	enum_description,
		const std::string &	group
	)

Definition at line 103 of file ddynamic_reconfigure.cpp.

◆ registerEnumVariable() [2/4]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerEnumVariable	(	const std::string &	name,
		T *	variable,
		const boost::function< void(T)> &	callback,
		const std::string &	description,
		std::map< std::string, T >	enum_dict = `{}`,
		const std::string &	enum_description = `""`,
		const std::string &	group = `"Default"`
	)

◆ registerEnumVariable() [3/4]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerEnumVariable	(	const std::string &	name,
		T *	variable,
		const std::string &	description = `""`,
		std::map< std::string, T >	enum_dict = `{}`,
		const std::string &	enum_description = `""`,
		const std::string &	group = `"Default"`
	)

Definition at line 82 of file ddynamic_reconfigure.cpp.

◆ registerEnumVariable() [4/4]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerEnumVariable	(	const std::string &	name,
		T	current_value,
		const boost::function< void(T)> &	callback,
		const std::string &	description,
		std::map< std::string, T >	enum_dict = `{}`,
		const std::string &	enum_description = `""`,
		const std::string &	group = `"Default"`
	)

Definition at line 130 of file ddynamic_reconfigure.cpp.

◆ RegisterVariable() [1/3]

void ddynamic_reconfigure::DDynamicReconfigure::RegisterVariable	(	bool *	variable,
		std::string	id
	)

virtual

Definition at line 356 of file ddynamic_reconfigure.cpp.

◆ registerVariable() [1/3]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerVariable	(	const std::string &	name,
		T *	variable,
		const boost::function< void(T value)> &	callback,
		const std::string &	description = `""`,
		T	min = `getMin<T>()`,
		T	max = `getMax<T>()`,
		const std::string &	group = `"Default"`
	)

registerVariable like the functions above, but with a callback to be called when the variable is changed from the dynamic_reconfigure API.

Definition at line 92 of file ddynamic_reconfigure.cpp.

◆ registerVariable() [2/3]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerVariable	(	const std::string &	name,
		T *	variable,
		const std::string &	description = `""`,
		T	min = `getMin<T>()`,
		T	max = `getMax<T>()`,
		const std::string &	group = `"Default"`
	)

registerVariable register a variable to be modified via the dynamic_reconfigure API. When a change is made, it will be reflected in the variable directly

Deprecated:: In the future this method will be merged with the registerVariable that takes a pointer and a callback, but with the callback being optional

Definition at line 74 of file ddynamic_reconfigure.cpp.

◆ registerVariable() [3/3]

template<typename T >

void ddynamic_reconfigure::DDynamicReconfigure::registerVariable	(	const std::string &	name,
		T	current_value,
		const boost::function< void(T value)> &	callback,
		const std::string &	description = `""`,
		T	min = `getMin<T>()`,
		T	max = `getMax<T>()`,
		const std::string &	group = `"Default"`
	)

registerVariable register a variable to be modified via the dynamic_reconfigure API. When a change is made, the callback will be called with the new value. The variable itself is not modified when registered using this method. This method is useful for "dynamic reconfigure variables" that don't have a direct equivalent in the C++ code, such as vector.size().

Definition at line 118 of file ddynamic_reconfigure.cpp.

◆ RegisterVariable() [2/3]

void ddynamic_reconfigure::DDynamicReconfigure::RegisterVariable	(	double *	variable,
		std::string	id,
		double	min = `-100`,
		double	max = `100`
	)

virtual

Definition at line 346 of file ddynamic_reconfigure.cpp.

◆ RegisterVariable() [3/3]

void ddynamic_reconfigure::DDynamicReconfigure::RegisterVariable	(	int *	variable,
		std::string	id,
		int	min = `-100`,
		int	max = `100`
	)

virtual

Definition at line 351 of file ddynamic_reconfigure.cpp.

◆ setConfigCallback()

bool ddynamic_reconfigure::DDynamicReconfigure::setConfigCallback	(	dynamic_reconfigure::Reconfigure::Request &	req,
		dynamic_reconfigure::Reconfigure::Response &	rsp
	)

protectedvirtual

Definition at line 188 of file ddynamic_reconfigure.cpp.

◆ setPostUpdateCallback()

void ddynamic_reconfigure::DDynamicReconfigure::setPostUpdateCallback ( const UserCallbackType & callback )

virtual

setPostUpdateCallback An optional callback that will be called right after any value is changed.

Definition at line 336 of file ddynamic_reconfigure.cpp.

◆ setPreUpdateCallback()

void ddynamic_reconfigure::DDynamicReconfigure::setPreUpdateCallback ( const UserCallbackType & callback )

virtual

setPreUpdateCallback An optional callback that will be called right before any value is changed

Definition at line 326 of file ddynamic_reconfigure.cpp.

◆ setUserCallback()

void ddynamic_reconfigure::DDynamicReconfigure::setUserCallback ( const UserCallbackType & callback )

virtual

setUserCallback An optional callback that will be called whenever a value is changed. This is equivalent to the setPostUpdateCallback.

Deprecated functions. For backwards compatibility, cannot be a template for legacy reasons

Definition at line 316 of file ddynamic_reconfigure.cpp.

◆ updateConfigData()

void ddynamic_reconfigure::DDynamicReconfigure::updateConfigData ( const dynamic_reconfigure::Config & config )

protectedvirtual

Definition at line 284 of file ddynamic_reconfigure.cpp.

◆ updatePublishedInformation()

void ddynamic_reconfigure::DDynamicReconfigure::updatePublishedInformation ( )

virtual

Definition at line 158 of file ddynamic_reconfigure.cpp.

◆ updateRegisteredVariablesData()

void ddynamic_reconfigure::DDynamicReconfigure::updateRegisteredVariablesData ( )

virtual

updateRegisteredVariablesData - Method to be called to update the registered variable, incase the auto_update is not choosen

Definition at line 531 of file ddynamic_reconfigure.cpp.

Member Data Documentation

◆ advertised_

bool ddynamic_reconfigure::DDynamicReconfigure::advertised_

protected

Definition at line 199 of file ddynamic_reconfigure.h.

◆ auto_update_

bool ddynamic_reconfigure::DDynamicReconfigure::auto_update_

protected

Definition at line 200 of file ddynamic_reconfigure.h.

◆ config_groups_

std::vector<std::string> ddynamic_reconfigure::DDynamicReconfigure::config_groups_

protected

Definition at line 209 of file ddynamic_reconfigure.h.

◆ descr_pub_

ros::Publisher ddynamic_reconfigure::DDynamicReconfigure::descr_pub_

protected

Definition at line 197 of file ddynamic_reconfigure.h.

◆ last_config_

dynamic_reconfigure::Config ddynamic_reconfigure::DDynamicReconfigure::last_config_

protected

Definition at line 215 of file ddynamic_reconfigure.h.

◆ new_config_avail_

std::atomic_bool ddynamic_reconfigure::DDynamicReconfigure::new_config_avail_

protected

Definition at line 202 of file ddynamic_reconfigure.h.

◆ node_handle_

ros::NodeHandle ddynamic_reconfigure::DDynamicReconfigure::node_handle_

protected

setUserCallback Set a function to be called when parameters have changed

Definition at line 194 of file ddynamic_reconfigure.h.

◆ post_update_callback_

UserCallbackType ddynamic_reconfigure::DDynamicReconfigure::post_update_callback_

protected

Definition at line 212 of file ddynamic_reconfigure.h.

◆ pre_update_callback_

UserCallbackType ddynamic_reconfigure::DDynamicReconfigure::pre_update_callback_

protected

Definition at line 211 of file ddynamic_reconfigure.h.

◆ pub_config_timer_

ros::Timer ddynamic_reconfigure::DDynamicReconfigure::pub_config_timer_

protected

Definition at line 214 of file ddynamic_reconfigure.h.

◆ registered_bool_

std::vector<std::unique_ptr<RegisteredParam<bool> > > ddynamic_reconfigure::DDynamicReconfigure::registered_bool_

protected

Definition at line 207 of file ddynamic_reconfigure.h.

◆ registered_double_

std::vector<std::unique_ptr<RegisteredParam<double> > > ddynamic_reconfigure::DDynamicReconfigure::registered_double_

protected

Definition at line 206 of file ddynamic_reconfigure.h.

◆ registered_int_

std::vector<std::unique_ptr<RegisteredParam<int> > > ddynamic_reconfigure::DDynamicReconfigure::registered_int_

protected

Definition at line 205 of file ddynamic_reconfigure.h.

◆ registered_string_

std::vector<std::unique_ptr<RegisteredParam<std::string> > > ddynamic_reconfigure::DDynamicReconfigure::registered_string_

protected

Definition at line 208 of file ddynamic_reconfigure.h.

◆ set_service_

ros::ServiceServer ddynamic_reconfigure::DDynamicReconfigure::set_service_

protected

Definition at line 195 of file ddynamic_reconfigure.h.

◆ update_pub_

ros::Publisher ddynamic_reconfigure::DDynamicReconfigure::update_pub_

protected

Definition at line 196 of file ddynamic_reconfigure.h.

◆ updated_config_

dynamic_reconfigure::Config ddynamic_reconfigure::DDynamicReconfigure::updated_config_

protected

Definition at line 216 of file ddynamic_reconfigure.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ UserCallbackType

Constructor & Destructor Documentation

◆ DDynamicReconfigure()

◆ ~DDynamicReconfigure()

Member Function Documentation

◆ clearPostUpdateCallback()

◆ clearPreUpdateCallback()

◆ clearUserCallback()

◆ generateConfig()

◆ generateConfigDescription()

◆ getRegisteredVector() [1/2]

◆ getRegisteredVector() [2/2]

◆ publishServicesTopics()

◆ PublishServicesTopics()

◆ registerEnumVariable() [1/4]

◆ registerEnumVariable() [2/4]

◆ registerEnumVariable() [3/4]

◆ registerEnumVariable() [4/4]

◆ RegisterVariable() [1/3]

◆ registerVariable() [1/3]

◆ registerVariable() [2/3]

◆ registerVariable() [3/3]

◆ RegisterVariable() [2/3]

◆ RegisterVariable() [3/3]

◆ setConfigCallback()

◆ setPostUpdateCallback()

◆ setPreUpdateCallback()

◆ setUserCallback()

◆ updateConfigData()

◆ updatePublishedInformation()

◆ updateRegisteredVariablesData()

Member Data Documentation

◆ advertised_

◆ auto_update_

◆ config_groups_

◆ descr_pub_

◆ last_config_

◆ new_config_avail_

◆ node_handle_

◆ post_update_callback_

◆ pre_update_callback_

◆ pub_config_timer_

◆ registered_bool_

◆ registered_double_

◆ registered_int_

◆ registered_string_

◆ set_service_

◆ update_pub_

◆ updated_config_