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Add dynamic reconfigure to static_tf_publisher
@bgromov Thanks, I've always wanted to see this functionality.
It would be helpful if this also had a checkbox to 'use_quaternion' followed by qw, qx, qy, and qz. I won't have time to get to this until tomorrow, but I'll test this and add quaternion support then if you don't beat me to it.
@chadrockey I will add it, but it may be confusing. Quaternions should always be normalized, thus GUI should not change one component of vector at a time. So it may be better to use use_quaternion as a trigger, whose state will be reset in reconfigure callback.
I've also tried current version on a real system today and it seems that a switch between radians and degrees is necessary. Unfortunately I don't know how to implement this properly since it is necessary to replace max/min values dynamically (from -pi/+pi to -180/+180). As I understand dynamic reconfigure doesn't allow this. Am I right?
@bgromov There's a not well tested but functional API to change limits dynamically. I've used it here in urg_node: https://github.com/ros-drivers/urg_node/blob/hydro-devel/src/urg_node.cpp#L78
Another possibility is to just make three sections, RPY Radians, RPY Degrees, and Quaternion. Triggers used to work better than they do now with rqt_reconfigure. It's possible we could use three triggers: 'set_radians', 'set_degrees', and 'set_quaternion'.
@chadrockey Thanks for the hint with limits.
Seems that neither triggering nor changing limits are working well with rqt_reconfigure. Very often checkbox does not generate event and thus remains ticked. Limits are set, but interface does not update unless node is selected again.
I gave up with drop-down menus and limits because of rqt_reconfigure, but I have commited results to experimental branch, if somebody interested.
Overall this looks very useful. How is it going to behave if you instantiate 2 copies? We just patched the view_frames service to deduplicate advertising on the same name.
@tfoote Since dynamic reconfigure attaches to particular node it will change only the parameters of that node, won't it?
Right, but my question is how does it work if you create two copies of that class in one node?
On Fri, Aug 2, 2013 at 9:09 PM, Boris Gromov [email protected]:
@tfoote https://github.com/tfoote Since dynamic reconfigure attaches to particular node it will change only the parameters of that node, won't it?
— Reply to this email directly or view it on GitHubhttps://github.com/ros/geometry/pull/25#issuecomment-22048117 .
Current version will not work with two instances of TransformSender class as dynamic_reconfigure::Server will advertise services in the same namespace.
If it breaks any existing code I can add extra node handle or namespace parameter to TransformSender constructor to pass to dynamic_reconfigure::Server. Thus each instance will advertise in its private namespace. Though it will be up to a user to provide correct names.
@bgromov If you could add that to the constructor I'll plan to merge this for the indigo cycle.
Done.
I am a bit out of sync with current development, so may need to recheck everything. The reconfigure GUI behaves strangely on my Groovy - whenever I move orientation sliders, either RPY or WXYZ, some orientation values start jumping. It seems something changed in event notification mechanism in rqt_reconfigure.
Unfortunately, rqt_reconfigure is abandoned and doesn't work. This means there's no functioning GUI for dynamic_reconfigure, which means there's essentially no dynamic_reconfigure.
As a work around, I've been installing it from fuerte and switching workspaces to use it with hydro packages. @bgromov I would say that if you can 'source /opt/ros/fuerte/setup.bash; rosrun dynamic_reconfigure reconfigure_gui" and it works there, go ahead and fix this for an indigo release. That was the standard reference of functionality and rqt_reconfigure should be considered broken until it performs as dynamic_reconfigure did.
@chadrockey Thanks for the workaround. I can confirm that everything works correctly with the old reconfigure_gui.
