Multiple dynamic_reconfigure servers in the same node? [Python]

edit

This is exactly an example of what I was talking. Thanks joq. Just notice that two different node have to be created with different subnames.

Thanks. In any case IHMO it is worthnote that multiple does not seem possible in python because the dynamic_reconfigure server implementation. See

$ head -70 `rospack find dynamic_reconfigure`/src/dynamic_reconfigure/server.py

I propose a patch at the end of this response with some modification on this file to achieve this feature.

I show a example code below about how could be done it with C++.

bool configure_server_callback_a(mypkg::myconfig &config, uint32_t level)
{
  return config;
}

bool configure_server_callback_b(mypkg::myconfig &config, uint32_t level)
{
  return config;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "test_multiple_configure");

  ros::NodeHandle nh_a("~/a");
  ros::NodeHandle nh_b("~/b");

  dynamic_reconfigure::Server<mypkg::myconfig> cfg_server_a(nh_a);
  dynamic_reconfigure::Server<mypkg::myconfig> cfg_server_b(nh_b);

  dynamic_reconfigure::Server<mypkg::myconfig>::CallbackType f_a, f_b;
  f_a = boost::bind(configure_server_callback_a, _1, _2);
  f_b = boost::bind(configure_server_callback_a, _1, _2);

  cfg_server_a.setCallback(f_a);
  cfg_server_b.setCallback(f_b);

  ros::spin();
}

To have multiple dynamic_reconfigure servers on the same node I propose the following patch for the dynamic_reconfigure source:

--- a/src/dynamic_reconfigure/server.py Sun Jan 15 19:33:19 2012 -0800
+++ b/src/dynamic_reconfigure/server.py Thu Aug 16 14:06:26 2012 +0200
@@ -51,7 +51,7 @@
 from dynamic_reconfigure.encoding import *

 class Server(object):
-    def __init__(self, type, callback):
+     def __init__(self, type, callback,namespace_prefix=""):
         self.mutex = threading.Lock()
         self.type = type
         self.config = type.defaults.copy()
@@ -61,17 +61,19 @@
         self.callback = callback
         self._clamp(self.config) 

+   self.namespace_prefix=("~/"+namespace_prefix+'/').replace('//','/')
+
         # setup group defaults
         self.config['groups'] = get_tree(self.description)
         self.config = initial_config(encode_config(self.config), type.config_description)

-        self.descr_topic = rospy.Publisher('~parameter_descriptions', ConfigDescrMsg, latch=True)
+        self.descr_topic = rospy.Publisher(self.namespace_prefix+'parameter_descriptions', ConfigDescrMsg, latch=True)
         self.descr_topic.publish(self.description);
-        
-        self.update_topic = rospy.Publisher('~parameter_updates', ConfigMsg, latch=True)
+
+        self.update_topic = rospy.Publisher(self.namespace_prefix+'parameter_updates', ConfigMsg, latch=True)
         self._change_config(self.config, type.all_level)

-        self.set_service = rospy.Service('~set_parameters', ReconfigureSrv, self._set_callback)
+        self.set_service = rospy.Service(self.namespace_prefix+'set_parameters', ReconfigureSrv, self._set_callback)

     def update_configuration(self, changes):
         with self.mutex:
@@ -89,7 +91,7 @@

     def _copy_to_parameter_server(self):
         for param in extract_params(self.type.config_description):
-            rospy.set_param('~' + param['name'], self.config[param['name']])
+            rospy.set_param(self.namespace_prefix+ param['name'], self.config[param['name']])

     def _change_config(self, config, level):
         self.config = self.callback(config, level)