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Note: This tutorial assumes that you have completed the previous tutorials: How to use Hokuyo laser scanners with the hokuyo_node.
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How to Dynamically Reconfigure the hokuyo_node

Description: This tutorial covers using the reconfigure_gui to dynamically reconfigure the hokuyo_node to run with different parameters. After reading this tutorial, you should be able to bring up the reconfigure_gui and change the hokuyo_node parameters.

Keywords: reconfigure, Hokuyo, parameters, laser driver, laser, laser scanner, laser scan

Tutorial Level: BEGINNER

Next Tutorial: How to dynamically reconfigure the hokuyo_node from the command line or code.

Parameters

The hokuyo_node has a wide range of parameters you can set to control how the laser operates. The parameter descriptions can be found here.

Compiling

Start by getting the dependencies and compiling dynamic_reconfigure.

$ rosdep install dynamic_reconfigure 
$ rosmake dynamic_reconfigure 

Running the reconfigure_gui

In a new terminal, run the reconfigure_gui:

$ rosrun rqt_reconfigure rqt_reconfigure 

You will see something similar to:

Now that the reconfigure_gui is running we need to select the hokuyo_node connected to our laser scanner.

Once you have selected the hokuyo_node connected to your laser scanner you will see the editable parameters.

You can see that reconfigure_gui shows all of the parameters that can be modified.


2019-06-22 12:43