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#! /usr/bin/env python
#*********************************************************************
# Software License Agreement (BSD License)
#
# Copyright (c) 2009-2010, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#********************************************************************/
from __future__ import print_function
import roslib; roslib.load_manifest('dynamic_reconfigure')
import rospy
import dynamic_reconfigure.server
from dynamic_reconfigure.cfg import TestConfig
import time
def main():
rospy.init_node("python_test_server")
dynamic_reconfigure.server.Server(TestConfig, reconfigure)
while not rospy.is_shutdown():
time.sleep(0.1)
def reconfigure(config, level):
print(config)
rospy.loginfo("Reconfigure request : %i %f %s %s %i" % (config['int_'], config['double_'], config['str_'], config['bool_'], config['level']))
config['int_'] |= 1
config['double_'] = -config['double_']
config['str_'] += "A"
config['bool_'] = not config['bool_']
config['level'] = level
rospy.loginfo("Reconfigured to : %i %f %s %s %i" % (config['int_'], config['double_'], config['str_'], config['bool_'], config['level']))
return config # Returns the updated configuration.
if __name__ == '__main__':
main()
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