Can't get dynamic reconfigure to spin when callback is a member of a class

edit

I am using ROS Indigo, Ubuntu 14.04. Get no compile errors. When I debug with GDB I can see I go into my callback once, but no more thereafter. This also happened when the callback was made global outside the class. I thought that perhaps this was why it was not being called. But it seems this is not the problem.

I have three other subscription callbacks in this code that work fine as well one publication.

Below I show the callback and the main function. Currently I use spinOnce() but I have tried other spin mechanisms like spin() AsyncSpinner, MultiThreadedSpinner to see if that made a difference.

The full file / ROS package can be found here: https://github.com/birlrobotics/birl_...

Any help would be greatly appreciated.

namespace force_controller
{
  //***********************************************************************************************************************************************
  // callback(...) for dynamic Reconfigure set as a global function. 
  // When the rqt_reconfigure gui is used and those parameters are changed, the config.param_name in this function will be updated. Then, these parameters need to be set to the private members of your code to record those changes. 
  //***********************************************************************************************************************************************
  //void callback(force_error_constants::force_error_constantsConfig &config, uint32_t level)
  void controller::callback(force_error_constants::force_error_constantsConfig &config, uint32_t level)
  {
    // Print the updated values
    ROS_INFO("Dynamic Reconfigure Prop gains: %f %f %f %f %f %f\nDerivative gains: %f", 

             // Proportional Gains
             config.k_fp0,
             config.k_fp1,
             config.k_fp2,

             config.k_mp0,
             config.k_mp1,
             config.k_mp2,

             // Derivative Gains
             config.k_fv0);

    // Save proportional gains  to the corresponding data members. 
    k_fp0=config.k_fp0;
    k_fp1=config.k_fp1;
    k_fp2=config.k_fp2;

    k_mp0=config.k_mp0;
    k_mp1=config.k_mp1;
    k_mp2=config.k_mp2;

    // Save derivative gains to the corresponding data members.
    k_fv0=config.k_fv0;

    // change the flag
    force_error_constantsFlag = true;

  }
...
----------------

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

  // Create a node namespace. Ie for service/publication: <node_name>/topic_name or for parameters: <name_name>/param_name 
  ros::NodeHandle node("~"); 

  // Instantiate the controller
  force_controller::controller myControl(node);

  // Set up the Dynamic Reconfigure Server to update controller gains: force, moment both proportional and derivative.
  if(myControl.dynamic_reconfigure_flag)
    {
     // (i) Set up the dynamic reconfigure server
      dynamic_reconfigure::Server<force_error_constants::force_error_constantsConfig> srv;

      // (ii) Create a callback object of type force_error_constantsConfig
      dynamic_reconfigure::Server<force_error_constants::force_error_constantsConfig>::CallbackType f;

      // (iii) Bind that object to the actual callback function
      //f=boost::bind(&force_controller::callback, _1, _2); // Used to pass two params to a callback.

      // Bind a new function f2 with the force_controller::controller::callback.
      // The left side of the command, tells boost that the callback returns void and has two input parameters. 
      // It also needs the address of the this pointer of our class, and the indication that it has the two parameters follow the order _1, _2. 
      boost::function<void (force_error_constants::force_error_constantsConfig &,int) > f2( boost::bind( &force_controller::controller::callback,&myControl, _1, _2 ) );

      // (iv) Set the callback to the service server. 
      f=f2; // Copy the functor data f2 to our dynamic_reconfigure::Server callback type
      srv.setCallback(f);

      // Update the rosCommunicationCtr
      myControl.rosCommunicationCtrUp();
    }

  if(!myControl.start())
    {
      ROS_ERROR("Could not start controller, exiting");
      ros::shutdown();
      return 1;
    }

  ros::Rate rate( myControl.get_fcLoopRate() );

  /*** Different Communication Modes ***/
  while(ros::ok())
    {

      // 1. Non ...