Book Image

Effective Robotics Programming with ROS - Third Edition

By : Sánchez, Fernandez Perdomo, Mahtani
Book Image

Effective Robotics Programming with ROS - Third Edition

By: Sánchez, Fernandez Perdomo, Mahtani

Overview of this book

Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup. It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you’ll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.
Table of Contents (12 chapters)
11
Index

Setting dynamic parameters

If a node implements a dynamic reconfigure parameter server, we can use rqt_reconfigure to modify it on the fly. Run the following example, which implements a dynamic reconfigure server with several parameters (see the cfg file in the cfg folder of the package):

$ roslaunch chapter3_tutorials example6.launch

With the dynamic reconfigure server running, open the GUI with the following command:

$ rosrun rqt_reconfigure rqt_reconfigure

Select the example6 server in the left-hand side panel, and you will see its parameters, which you can modify directly. The parameter changes take effect immediately, running the code inside a callback method in the example source code, which checks for the validity of the values. In this example, the parameters are printed every time they are changed, that is, when the callback method is executed. The following screenshot is an example of the expected behavior:

Setting dynamic parameters

Dynamic parameters were originally meant for drivers, in order to make it...