Dynamic Reconfigure Timed Latch

gistfile1.txt

Cfg:

#! /usr/bin/env python

from dynamic_reconfigure.parameter_generator_catkin import *
PACKAGE='my_package'

gen = ParameterGenerator()
gen.add("a",          double_t, 0, "A",                 -100,    0, 100)
gen.add("b",          double_t, 0, "B",                     -100,    0, 100)
gen.add("add_a_and_b",          bool_t,   2, "Triggers the latched add.",             False)
gen.add("c",          double_t, 0, "Sum of A and B",                   -200,    0, 200)


exit(gen.generate(PACKAGE, "my_package", "Sum"))


-------------------
------------------
------------------

C++:

#include <ros/ros.h>


#include <dynamic_reconfigure/server.h>
#include <my_package/SumConfig.h>

void callback(my_package::SumConfig& config, uint32_t level)
{
  if(config.add_a_and_b){
    ROS_INFO("Adding numbers");
    config.c = config.a + config.b;
    config.a = 0;
    config.b = 0;

    ros::Duration(0.5).sleep(); // Sleep for 0.5 second so that user gets proper feedback from GUI

    // Always set the "apply buttons" back to false
    config.add_a_and_b = false;
    return;
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "sum_test");
  ros::NodeHandle n;
  ros::NodeHandle pnh("~");
  
  // Setup dynamic reconfigure
  dynamic_reconfigure::Server<my_package::SumConfig> srv;
  dynamic_reconfigure::Server<my_package::SumConfig>::CallbackType f;
  f = boost::bind(&callback, _1, _2);
  srv.setCallback(f);
  
  ros::spin();
  
  return 0;
}