From b5dace823aaffc0d7a79e38299d2a63d86bfb6a1 Mon Sep 17 00:00:00 2001 From: Marco Andarcia Date: Wed, 23 Nov 2016 13:15:46 +0900 Subject: [PATCH] added dynamic reconfigure for yocs pose controller --- CMakeLists.txt | 3 ++- dynamic_reconfigure/PoseController.cfg | 19 +++++++++++++++++++ 2 files changed, 21 insertions(+), 1 deletion(-) create mode 100755 dynamic_reconfigure/PoseController.cfg diff --git a/CMakeLists.txt b/CMakeLists.txt index 61bd928..42a39aa 100644 --- a/CMakeLists.txt +++ b/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) diff --git a/dynamic_reconfigure/PoseController.cfg b/dynamic_reconfigure/PoseController.cfg new file mode 100755 index 0000000..ecfd5c7 --- /dev/null +++ b/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"))