編碼

mkdir nodes
vim 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()

chmod +x nodes/server.py

運行測試

sudo apt-get install ros-indigo-rqt-reconfigure
rosrun dynamic_tutorials server.py
rosrun rqt_gui rqt_gui -s reconfigure