#! /usr/bin/env python
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from __future__ import print_function
import roslib; roslib.load_manifest('dynamic_reconfigure')
import rospy
import dynamic_reconfigure.server
from dynamic_reconfigure.cfg import TestConfig
import time
def main():
rospy.init_node("python_test_multiple_ns_server")
dynamic_reconfigure.server.Server(TestConfig, reconfigure)
dynamic_reconfigure.server.Server(TestConfig, reconfigure_alternate_ns,
"~alternate_ns")
dynamic_reconfigure.server.Server(TestConfig, reconfigure_2lvls_ns,
"~alternate_ns/second_lvl")
dynamic_reconfigure.server.Server(TestConfig, reconfigure_absolute_ns,
"/absolute_ns")
while not rospy.is_shutdown():
time.sleep(0.1)
def reconfigure(config, level):
print(config)
config['int_'] |= 1
config['double_'] = -config['double_']
config['str_'] += "A"
config['bool_'] = not config['bool_']
config['level'] = level
rospy.loginfo("Reconfigured to : %i %f %s %s %i" % (config['int_'], config['double_'], config['str_'], config['bool_'], config['level']))
return config # Returns the updated configuration.
def reconfigure_default(config, level):
rospy.loginfo("Reconfigure request on default ns")
return reconfigure(config, level)
def reconfigure_alternate_ns(config, level):
rospy.loginfo("Reconfigure request on alternate_ns")
return reconfigure(config, level)
def reconfigure_2lvls_ns(config, level):
rospy.loginfo("Reconfigure request on alternate_ns/second_lvl")
return reconfigure(config, level)
def reconfigure_absolute_ns(config, level):
rospy.loginfo("Reconfigure request on /absolute_ns")
return reconfigure(config, level)
if __name__ == '__main__':
main()