added dynamic reconfigure for yocs pose controller

CMakeLists.txt

@@ -29,7 +29,8 @@ add_action_files(
   Localize.action
 )
 
-generate_dynamic_reconfigure_options( dynamic_reconfigure/Joystick.cfg )
+generate_dynamic_reconfigure_options( dynamic_reconfigure/Joystick.cfg
+				      dynamic_reconfigure/PoseController.cfg)
 
 generate_messages(DEPENDENCIES actionlib_msgs std_msgs geometry_msgs std_srvs)
 

dynamic_reconfigure/PoseController.cfg

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("v_min",  double_t, 0, "min linear vel",    0.01,  0,   1.00)
+gen.add("v_max",  double_t, 0, "max linear vel",    0.15,  0,   1.00)
+gen.add("w_max",  double_t, 0, "max ang vel rad/s", 0.526, 0,   1.00)
+gen.add("k_1",  double_t, 0, "k_1 factor ", 1.0, 0,   100)
+gen.add("k_2",  double_t, 0, "k_2 factor ", 10.0, 0,   100)
+gen.add("beta",  double_t, 0, "beta factor ", 0.2, 0,   100)
+gen.add("lambda",  double_t, 0, "lamda factor ", 2.0, 0,   100)
+gen.add("dist_thres",  double_t, 0, "distance threshold ", 0.05, 0,   100)
+gen.add("orient_thres",  double_t, 0, "orientation threshold ", 0.0175, 0,   100)
+gen.add("dist_eps",  double_t, 0, "distance epsilon ", 0.025, 0,   100)
+gen.add("orient_eps",  double_t, 0, "orientation epsilon ", 0.00872664625995, 0,   100)
+
+exit(gen.generate("yocs_msgs", "yocs_msgs", "PoseController"))