Dynamic Reconfiguration using orocos_toolchain
For the implementation of control system satisfying hard real-time constraints, I'm currently looking into using orocos_toolchain. I'm especially interested in having dynamically reconfigurable parameters for said control system. I noticed that parameters apparently can be loaded from the parameter server using the rtt_ros_integration (a tutorial that demonstrates all current capabilities of the integration would be nice btw :) ), but that of course does not give me dynamic reconfigurability. In my view, the easiest scenario would be to use dynamic_reconfigure, but I'm not sure how difficult adding support for that in the integration would be. The easiest way that comes to my mind right now is to just do it manually using messages/(latched) topics or services.
Are there any other plans/best practices/suggestions for achieving this?
/edit: To clarify: The scenario I have in mind is basically as also described here. As an example, let's say I have a robot that has multiple parameters and I want to be able to change them online during operation. The robot controller is running in a TaskContext and how parameters are represented there (component properties, ordinary member variables..) is basically part of the question. As the robot will be part of a larger ROS-based system, it would be nice to just be able to use the dynamic_reconfigure mechanisms.
