1、写一个配置文件 cfg/ElfinBasicAPIDynamicReconfigure.cfg

#!/usr/bin/env python
PACKAGE = "elfin_basic_api"from dynamic_reconfigure.parameter_generator_catkin import *gen = ParameterGenerator()gen.add("velocity_scaling", double_t, 0, "the max velocity scaling", 0.4,  0.01, 1.0)exit(gen.generate(PACKAGE, PACKAGE, "ElfinBasicAPIDynamicReconfigure"))

2、cmake自动产生 ElfinBasicAPIDynamicReconfigureConfig.h头文件

find_package(catkin REQUIRED COMPONENTSdynamic_reconfigure
)generate_dynamic_reconfigure_options(cfg/ElfinBasicAPIDynamicReconfigure.cfg
)

3、使用dynamic_reconfigure::Server

#include <elfin_basic_api/ElfinBasicAPIDynamicReconfigureConfig.h> //引入头文件//自定义类中加入成员变量：
dynamic_reconfigure::Server<ElfinBasicAPIDynamicReconfigureConfig> dynamic_reconfigure_server_;
//绑定回调函数
dynamic_reconfigure_server_.setCallback(boost::bind(&ElfinBasicAPI::dynamicReconfigureCallback, this, _1, _2));void ElfinBasicAPI::dynamicReconfigureCallback(ElfinBasicAPIDynamicReconfigureConfig &config, uint32_t level)
{setVelocityScaling(config.velocity_scaling);
}void ElfinBasicAPI::setVelocityScaling(double data)
{velocity_scaling_=data;teleop_api_->setVelocityScaling(velocity_scaling_);
}

于是，elfin_basic_api自动启动了serice：

/elfin_basic_api/set_parameters

和topic：

/elfin_basic_api/parameter_descriptions
/elfin_basic_api/parameter_updates

4、move_group动态修改参数

void ElfinTeleopAPI::setVelocityScaling(double data)
{velocity_scaling_=data;joint_speed_=joint_speed_default_*velocity_scaling_;cart_duration_=cart_duration_default_/velocity_scaling_;group_->setMaxVelocityScalingFactor(velocity_scaling_);
}

python脚本修改参数

设置elfin_basic_api相关的动态参数，例如: velocity scaling
example: set_parameters() in elfin_robot_bringup/script/set_velocity_scaling.py

python源码：

# author: Cong Liu
import rospy
from dynamic_reconfigure.srv import Reconfigure, ReconfigureRequest
from dynamic_reconfigure.msg import DoubleParameter, Configclass SetVelocityScaling(object):def __init__(self):self.request=ReconfigureRequest()self.velocity_scaling_goal=0.6self.elfin_basic_api_ns='elfin_basic_api/'self.set_parameters_client=rospy.ServiceProxy(self.elfin_basic_api_ns+'set_parameters',Reconfigure)def set_parameters(self):config_empty=Config()velocity_scaling_param_tmp=DoubleParameter()velocity_scaling_param_tmp.name='velocity_scaling'velocity_scaling_param_tmp.value=self.velocity_scaling_goalself.request.config.doubles.append(velocity_scaling_param_tmp)self.set_parameters_client.call(self.request)self.request.config=config_emptyif __name__ == "__main__":rospy.init_node('set_velocity_scaling', anonymous=True)svc=SetVelocityScaling()svc.set_parameters()rospy.spin()

参考： 1、https://github.com/hans-robot/elfin_robot