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The teleop.py node subscribes to sensor_msgs/Joy and publishes axis_camera/Axis messages. If you have a joystick, you should be able to control the PTZ using it.

The axis_ptz.py node subscribes to the cmd topic and receives the published axis_camera/Axis in order to control the PTZ unit.

In a nutshell, if you publish axis_camera/Axis messages from your node, you should be able to control the PTZ unit. I based myself on the teleop.py when I wrote my own node.

As for the dynamic reconfigure, I haven't tried that out.

I hope it helps!