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I think I am just launching the camera (raspicam_node) and suddenly out of nowhere comes a dynamic reconfigure.

I'm almost certain this is the default behaviour for dynamic_reconfigure servers.

See #q28327 fi (the answer by @joq), #q250134 and finally the source of dynamic_configure's Server::setCallback(..) itself (from here):

void setCallback(const CallbackType &callback)
{
  boost::recursive_mutex::scoped_lock lock(mutex_);
  callback_ = callback;
  callCallback(config_, ~0); // At startup we need to load the configuration with all level bits set. (Everything has changed.)
  updateConfigInternal(config_);
}

Notice how it calls callCallback(..) right after storing the callback is assigned to callback_ (ie: the member variable).

This lets the server load the default values for all parameters using the same callback that is used to handle any incoming reconfigure requests from actual clients.

I think I am just launching the camera (raspicam_node) and suddenly out of nowhere comes a dynamic reconfigure.

I'm almost certain this is the default behaviour for dynamic_reconfigure servers.

See #q28327 fi (the answer by @joq), @joq ), #q250134 and finally the source of dynamic_configure's Server::setCallback(..) itself (from here):

void setCallback(const CallbackType &callback)
{
  boost::recursive_mutex::scoped_lock lock(mutex_);
  callback_ = callback;
  callCallback(config_, ~0); // At startup we need to load the configuration with all level bits set. (Everything has changed.)
  updateConfigInternal(config_);
}

Notice how it calls callCallback(..) right after storing the callback is assigned to callback_ (ie: the member variable).

This lets the server load the default values for all parameters using the same callback that is used to handle any incoming reconfigure requests from actual clients.

I think I am just launching the camera (raspicam_node) and suddenly out of nowhere comes a dynamic reconfigure.

I'm almost certain this is the default behaviour for dynamic_reconfigure servers.

See #q28327 fi (the (also the answer by @joq ), #q250134 and finally the source of dynamic_configure's Server::setCallback(..) itself (from here):

void setCallback(const CallbackType &callback)
{
  boost::recursive_mutex::scoped_lock lock(mutex_);
  callback_ = callback;
  callCallback(config_, ~0); // At startup we need to load the configuration with all level bits set. (Everything has changed.)
  updateConfigInternal(config_);
}

Notice how it calls callCallback(..) right after storing the callback is assigned to callback_ (ie: the member variable).

This lets the server load the default values for all parameters using the same callback that is used to handle any incoming reconfigure requests from actual clients.