Parameter Handler

Overview

These packages provide an interface for a parameter handler and some default parameter handlers. A parameter handler is a tool to tune parameters defined in other classes.

The source code is released under a BSD 3-Clause license.

Author(s): Christian Gehring, Gabriel Hottiger, C. Dario Bellicoso

Additional Docs

• Overview and getting started
• Use the parameter handler
• Extend the parameter handler
• Legacy RQT GUI

Differences to ROS dynamic_reconfigure

ROS dynamic_reconfigure can read and write parameters of nodes at run-time. The tool has the following drawbacks compared to the parameter_handler packages:

• The client is not dynamically reconnecting when the server is restarted
• It requires a lot of overhead code.
• It does not support Eigen and kindr types.

Building

In order to install, clone the latest version from this repository into your catkin workspace and compile the packages.

Dependencies

• kindr: Kinematics and Dynamics for Robotics
• kindr_ros: kindr ROS wrapper
• message_logger: Message logging utility
• Eigen3: Linear alegra library
• gtest: Google's unit testing framework

Usage

Please report bugs and request features using the Issue Tracker.

包

• parameter_handler: Interface to parameter handler
• parameter_handler_msgs: ROS messages used by parameter_handler_ros
• parameter_handler_ros: An implementation of the parameter handler that uses ROS
• parameter_handler_std: An implementation of the parameter handler that is independent of ROS