Hi everyone i am stilll new here so please assist me.
So i have been trying to make a gui to change the modes(manual, teleoperation) of an vehicle from a control station.
I initially tried to do qt and tried to integrate into ROS, but i failed ;(.
I came across these rqt plugin, dynamic_reconfigure, which would able to do the same thing as my gui.
When i created the following files according to the tutorial: http://wiki.ros.org/dynamic_reconfigure/Tutorials.
These are the following problems/enquiry i have:
1) In the section "How to Write Your First .cfg File" --> "Use the cfg File"
#add dynamic reconfigure api
#find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
cfg/Tutorials.cfg
#...
)
# make sure configure headers are built before any node using them
add_dependencies(example_node ${PROJECT_NAME}_gencfg)
What does the example_node refers to? should i change the example_node to the node which i want to change parameters/send signals?
For example, if i want to send commands to turtlesim_node, should i replace the example_node with turtlesim_node?
2) When i compile after creating the files according to the tutorial, i get the following error.
CMake Error at dynamic_tutorials/CMakeLists.txt:59 (add_dependencies):
Cannot add target-level dependencies to non-existent target "example_node".
The add_dependencies works for top-level logical targets created by the
add_executable, add_library, or add_custom_target commands. If you want to
add file-level dependencies see the DEPENDS option of the add_custom_target
and add_custom_command commands.
-- Configuring incomplete, errors occurred!
See also "/home/azhar/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/azhar/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
Please refer below for my following folders and let me know if i am missing something
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(dynamic_tutorials)
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
roscpp
rospy
)
#add dynamic reconfigure api
## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
cfg/Tutorials.cfg
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES dynamic_tutorials
CATKIN_DEPENDS dynamic_reconfigure roscpp rospy
DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(dynamic_tutorials
# src/${PROJECT_NAME}/dynamic_tutorials.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
#add_dependencies(dynamic_tutorials ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(dynamic_tutorials_node src/dynamic_tutorials_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(dynamic_tutorials_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(dynamic_tutorials_node
# ${catkin_LIBRARIES}
## )
# make sure configure headers are built before any node using them
add_dependencies(example_node ${PROJECT_NAME}_gencfg)
Tutorials.cfg
#!/usr/bin/env python
PACKAGE = "dynamic_tutorials"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)
gen.add("double_param", double_t, 0, "A double parameter", .5, 0, 1)
gen.add("str_param", str_t, 0, "A string parameter", "Hello World")
gen.add("bool_param", bool_t, 0, "A Boolean parameter", True)
size_enum = gen.enum([ gen.const("Small", int_t, 0, "A small constant"),
gen.const("Medium", int_t, 1, "A medium constant"),
gen.const("Large", int_t, 2, "A large constant"),
gen.const("ExtraLarge", int_t, 3, "An extra large constant")],
"An enum to set size")
gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)
exit(gen.generate(PACKAGE, "dynamic_tutorials", "Tutorials"))
Server.py
#!/usr/bin/env python
import rospy
from dynamic_reconfigure.server import Server
from dynamic_tutorials.cfg import TutorialsConfig
def callback(config, level):
rospy.loginfo("""Reconfigure Request: {int_param}, {double_param},\
{str_param}, {bool_param}, {size}""".format(**config))
return config
if __name__ == "__main__":
rospy.init_node("dynamic_tutorials", anonymous = True)
srv = Server(TutorialsConfig, callback)
rospy.spin()
package.xml
dynamic_tutorials 0.0.0 The dynamic_tutorials package azhar TODO catkin dynamic_reconfigure roscpp rospy dynamic_reconfigure roscpp rospy
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