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How to dynamically reconfigure the hokuyo_node from the command line or code.

Compiling

Start by getting the dependencies and compiling dynamic_reconfigure.

$ rosdep install dynamic_reconfigure 
$ rosmake dynamic_reconfigure 

Using dynamic_reconfigure from the command line

You can reconfigure the hokuyo_node parameters by calling dynamic_reconfigure from the command line with the following invocation:

rosrun dynamic_reconfigure dynparam paramset /<node_name> _<param>:=<value>

For example, if the node is named hokuyo_node and the parameter is min_ang, the call would look like:

rosrun dynamic_reconfigure dynparam paramset /hokuyo_node _min_ang:=-1.0

Try it with any of the hokuyo_node parameters.

You can see the result of setting the parameters by visualizing the laser scan in rviz.

Using dynparam from Python code

You can change hokuyo_node parameters from Python scripts by importing:

import py_dynamic_reconfigure as dynamic_reconfigure 

creating a node

rospy.init_node('myconfig_py', anonymous=True)

creating a client instance (node_to_reconfigure is the name of the node to reconfigure, for example 'hokuyo_node')

client = dynamic_reconfigure.DynamicReconfigureClient(<node_to_reconfigure>)

and calling update_configuration with a dictionary of changes to make (note that you do not need the preceding underscore on the parameter names)

params = { 'my_string_parameter' : 'value', 'my_int_parameter' : 5 }
config = client.update_configuration(params)

config now contains the full configuration of the node after the parameter update.

Using dynparam from C++ code

Not yet implemented. Call the shell command as a temporary workaround.