How to use dynamic_reconfigure for /gazebo vs. /gazebo_gui?

asked 2018-06-11 10:21:39 -0600

felix k gravatar image

I'm starting Gazebo 7 via ROS Kinetic, which is working fine so far.

Now I need to adjust the time_step and max_update_rate parameters to get a real-time simulation.

But when I open the reconfigure GUI, I get two sections: /gazebo and /gazebo_gui. Both contain the same parameters with the same values. Unexpectedly, they are not mirrored. If I change something for /gazebo, it doesn't get synced to /gazebo_gui even after refreshing. To be even more confusing: Gazebo behaves totally different if I change a setting in /gazebo or in /gazebo_gui. At least regarding the two time parameters I mentioned above which are of interest to me.

How is the reconfiguration supposed to be used? Is there a deeper sense I missed? I'm totally unsure whether this is more related to ROS or Gazebo.

Screenshot of the two sections:

Screenshot of the two sections

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I am also curious about this. As far as the two categories syncing - it's not necessarily simple to push a change to the dynamic reconfigure server (in C++ it involves initializing the server with a mutex and then locking to call and updateConfig() function).

harrisonmg gravatar image harrisonmg  ( 2018-10-07 13:45:23 -0600 )edit

(cont.) For this reason, if both categories do control the same params, I can understand why the changes might not be reflected by the other. You mention that changing the same param results in different behavior for each category though, which is puzzling.

harrisonmg gravatar image harrisonmg  ( 2018-10-07 13:47:01 -0600 )edit