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I'd like to publish dynamic parameters (from dynamic_reconfigure) to a topic from a C++ node when they change, for the purpose of recording parameter changes in a bag file. In Python, I just convert the dynamic parameters object to a string and publish it in the dynamic parameters callback. What's the best way to do something similar in C++, without having to manually copy each field of the param struct into a string?

Python:

def update_dynamic_params(self, dynamic_params, _level):
    # this always works and I don't have to change the code when the cfg file changes
    self.param_pub.publish(str(dynamic_params))

C++:

void MyNode::updateDynamicParams(const MyConfig& dynamic_params, uint32_t level)
{
  // I'd like to avoid manually copying each field of MyConfig struct into a string, especially because I'd have to update it each time the cfg file changes
}

What's the best way to publish dynamic parameters to a topic when they change? I'd like to publish dynamic parameters (f

Yes. Please see my updated question details.

Thanks for your answer. Please see my updated question with the detail of what I'm trying to do.

What's the best way to publish dynamic parameters to a topic when they change? I'd like to publish dynamic parameters (f

What's the best way to publish dynamic parameters to a topic when they change? I'd like to publish dynamic parameters (f

What's the best way to publish dynamic parameters to a topic when they change? I'd like to publish dynamic parameters (f

What's the recommended best way to integrate Google Test with fuerte/rosmake? I've looked at the wiki pages for gtest, rostest and rosunit, but I'm not sure which is the most up to date/best to use. Also, is there a good tutorial on how to set everything up and write a unit test in ROS?

Hi,

I'm trying to install ros-fuerte-arm-navigation in 12.04 but get broken dependencies in image-common, navigation, robot-model, and visualization. The problem seems to be a conflict with oneiric versions of libassimp-dev and yaml.cpp. Here are the messages I get when I run apt-get -f install (to try to fix the broken dependencies):

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Correcting dependencies... Done
The following extra packages will be installed:
  libassimp-dev yaml-cpp
The following NEW packages will be installed:
  libassimp-dev yaml-cpp
0 upgraded, 2 newly installed, 0 to remove and 0 not upgraded.
76 not fully installed or removed.
Need to get 0 B/299 kB of archives.
After this operation, 1,052 kB of additional disk space will be used.
Do you want to continue [Y/n]? y
(Reading database ... 381683 files and directories currently installed.)
Unpacking yaml-cpp (from .../yaml-cpp_0.2.7-5precise-20120502-0513-+0000_amd64.deb) ...
dpkg: error processing /var/cache/apt/archives/yaml-cpp_0.2.7-5precise-20120502-0513-+0000_amd64.deb (--unpack):
 trying to overwrite '/usr/include/yaml-cpp/emitter.h', which is also in package yaml-cpp0.2.6-dev 0.2.6-4~oneiric
dpkg-deb: error: subprocess paste was killed by signal (Broken pipe)
Unpacking libassimp-dev (from .../libassimp-dev_2.0.863+dfsg-2_amd64.deb) ...
dpkg: error processing /var/cache/apt/archives/libassimp-dev_2.0.863+dfsg-2_amd64.deb (--unpack):
 trying to overwrite '/usr/include/assimp/aiQuaternion.h', which is also in package assimp-dev 2.0.0.7-ubuntu1~oneiric1
Errors were encountered while processing:
 /var/cache/apt/archives/yaml-cpp_0.2.7-5precise-20120502-0513-+0000_amd64.deb
 /var/cache/apt/archives/libassimp-dev_2.0.863+dfsg-2_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

If I try to remove the oneiric versions of assimp-dev or yaml-cpp in Synaptic, then a bunch of other packages in both electric and fuerte get marked for removal. Any idea how to fix this?

Thanks!

Hi,

I'm writing a launch file and I want to pass a package name as an argument. The launch file should then look for the appropriate package. I wrote the following:

<arg name="robot" default="mh5_mesh" />
<include file="$(find $(arg robot) ... />

But when I run this, roslaunch complains: Dollar signs '$' cannot be inside of substitution args

Is there any way around this? How else can I pass a variable to $(find)? Is there some other method I should be using?

Thanks!