Dynamic reconfiguration

Configure script

Dynamic reconfiguration requires you to provide one or more simple Python scripts that declare the names, types, values, and ranges of the parameters you wish to configure dynamically. See the tutorials for details.

Catkin configure scripts differ from the earlier rosbuild interface. First, remove any reference to roslib, which is not needed with catkin:

import roslib; roslib.load_manifest(PACKAGE)

Then, be sure to use the catkin version of the parameter generator:

from dynamic_reconfigure.parameter_generator_catkin import *

The remainder of your scripts need not change.

package.xml

You need to declare both build and run-time dependencies on dynamic_reconfigure:

<build_depend>dynamic_reconfigure</build_depend>
<run_depend>dynamic_reconfigure</run_depend>

CMakeLists.txt

Be sure to include dynamic_reconfigure among your catkin package components:

find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure ...)

Generate the reconfigure options, listing all your node’s .cfg scripts:

generate_dynamic_reconfigure_options(cfg/YourNode.cfg)

Since you probably have build targets using the generated header, add this to ensure it gets built before any targets needing them:

add_dependencies(your_program ${your_package_EXPORTED_TARGETS})
add_dependencies(your_library ${your_package_EXPORTED_TARGETS})

Finally, include dynamic_reconfigure in the CATKIN_DEPENDS exports list for your package:

catkin_package(CATKIN_DEPENDS dynamic_reconfigure ...)