| Note: This tutorial assumes that you have completed the previous tutorials: How to use Hokuyo laser scanners with the hokuyo_node, How to dynamically reconfigure the hokuyo_node using reconfigure_gui. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
How to dynamically reconfigure the hokuyo_node from the command line or code.
Description: After completing this tutorial, you will be able to reconfigure the parameters of the hokuyo_node from the command line or python code.Keywords: reconfigure, Hokuyo, parameters, laser driver, laser, laser scanner, laser scan
Tutorial Level: INTERMEDIATE
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 _param:=min_ang
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.
