Dynamic reconfigure

edit

this is my client.py

#!/usr/bin/env python

PACKAGE = 'dynamic_tutorials'
import roslib;roslib.load_manifest(PACKAGE)
import rospy
import dynamic_reconfigure.client

from geometry_msgs.msg import Vector3, Twist

def callback(config):
    rospy.loginfo("Config set to {bool_param}".format(**config))

if __name__ == "__main__":
    rospy.init_node("dynamic_client")
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist)
    rospy.wait_for_service("/dynamic_tutorials/set_parameters")
    tw = Twist(Vector3(1,2,0), Vector3(0,0,1))
    client = dynamic_reconfigure.client.Client("dynamic_tutorials", timeout=30, config_callback=callback)

    r = rospy.Rate(1)
    x = 0
    b = True

    while not rospy.is_shutdown():

        x = x+1
        if x >5:  
            pub.publish(tw) 
            x=0   

        client.update_configuration({"bool_param":b})
        r.sleep()

When i run my server.py and client.py and turtlesim_node and dynamic_reconfigure, the turtle in the turtlesim node goes in circle every 5 seconds(regardless if the bool_param in dynamic reconfigure is ticked or unticked). If i click the bool_param, it becomes unticked immediately.

Intended action: When i click on a button(bool_param, in this case is ticked) in rqt_dynamic_reconfigure , it should publish the command and remain publishing the command untill i give further instructions.

How can i implement this action? I need to control the turtle movement using dynamic_reconfigure.

Thank you!