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[ros2] Dynamic reconfigure for gazebo_ros_camera #940

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merged 2 commits into from Aug 11, 2019

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@shiveshkhaitan
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commented Jun 22, 2019

Update rate for camera is a ros2 parameter which can be dynamically changed. e.g.
ros2 param set /demo_cam/camera_controller update_rate 5.0

This is not allowed in triggered cameras

@chapulina chapulina self-requested a review Jun 24, 2019

@chapulina chapulina added the ros2 label Jun 24, 2019

@shiveshkhaitan shiveshkhaitan force-pushed the shiveshkhaitan:dyn_reconfig branch from ac25322 to 138f772 Aug 8, 2019

@chapulina
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Works for me. I just have a couple of small comments. Also, it would be nice to add some instructions to gazebo_ros_camera_demo.world on how to get and set the rate, i.e.

ros2 param get /demo_cam/camera_controller update_rate

ros2 param set /demo_cam/camera_controller update_rate 1.0

gazebo_plugins/src/gazebo_ros_camera.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_camera.cpp Outdated Show resolved Hide resolved

@chapulina chapulina merged commit a315888 into ros-simulation:ros2 Aug 11, 2019

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