Added demo package for rosparam_handler. Closes cbandera/rosparam_handler#5

Author: Claudio Bandera

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(rosparam_handler_tutorial)
+find_package(catkin REQUIRED COMPONENTS roscpp rosparam_handler dynamic_reconfigure )
+
+# set compiler flags
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" Cpp14CompilerFlag)
+if (${Cpp14CompilerFlag})
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS "17")
+	#no additional flag is required
+else()
+	message(FATAL_ERROR "Compiler does not have c++14 support. Use at least g++4.9 or Visual Studio 2013 and newer.")
+endif()
+
+# Generate parameter files
+generate_ros_parameter_files(cfg/Demo.params)
+
+# Create package
+catkin_package()
+
+# Node
+add_executable(demo src/demo/demo.cpp src/demo/demo_node.cpp)
+add_dependencies(demo ${catkin_EXPORTED_TARGETS} rosparam_handler_tutorial_gencfg)
+target_link_libraries(demo ${catkin_LIBRARIES})
+install(TARGETS demo
+		ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+		LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+		RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+		)
+
+# Nodelet
+add_library(demo_nodelet src/demo/demo.cpp src/demo/demo_nodelet.cpp)
+target_link_libraries(demo_nodelet ${catkin_LIBRARIES})
+install(TARGETS demo_nodelet LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

README.md

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+# rosparam_handler_tutorial
+
+This holds the code for the [rosparam_handler](https://github.com/cbandera/rosparam_handler)-Tutorials.
+Compile the code, source your workspace and run 
+
+```shell
+roslaunch rosparam_handler_tutorial demo_node.launch
+```
+or run it as a nodelet
+
+```shell
+roslaunch rosparam_handler_tutorial demo_nodelet.launch
+```

cfg/Demo.params

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+#!/usr/bin/env python
+from rosparam_handler.parameter_generator_catkin import *
+gen = ParameterGenerator()
+
+gen.add("rate", paramtype="int",description="Rate for timer", default=2, min=1, max=10, configurable=True)
+
+# Parameters with different types
+gen.add("int_param", paramtype="int", description="An Integer parameter")
+gen.add("double_param", paramtype="double",description="A double parameter")
+gen.add("str_param", paramtype="std::string", description="A string parameter",  default="Hello World")
+gen.add("bool_param", paramtype="bool", description="A Boolean parameter")
+gen.add("vector_param", paramtype="std::vector<double>", description="A vector parameter")
+gen.add("map_param", paramtype="std::map<std::string,std::string>", description="A map parameter")
+
+# Default min and max values
+gen.add("weight", paramtype="double",description="Weight can not be negative", min=0.0)
+gen.add("age", paramtype="int",description="Normal age of a human is inbetween 0 and 100", min=0, max=100)
+gen.add("default_param", paramtype="std::string",description="Parameter with default value", default="Hello World")
+
+# Constant and configurable parameters
+gen.add("optimal_parameter", paramtype="double", description="Optimal parameter, can not be set via rosparam", default=10, constant=True)
+gen.add("configurable_parameter", paramtype="double", description="This parameter can be set via dynamic_reconfigure", configurable=True)
+
+# Defining the namespace
+#gen.add("global_parameter", paramtype="std::string", description="This parameter is defined in the global namespace", global_scope=True)
+
+# Full signature
+gen.add("dummy", paramtype="double", description="My Dummy parameter", level=0, edit_method="", default=5.2, min=0, max=10, configurable=True, global_scope=False, constant=False)
+
+# Add an enum:
+gen.add_enum("my_enum", description="My first self written enum", entry_strings=["Small", "Medium", "Large", "ExtraLarge"], default="Medium")
+
+#Syntax : Package, Node, Config Name(The final name will be MyDummyConfig)
+exit(gen.generate("rosparam_handler_tutorial", "demo_node", "Demo"))

launch/demo_node.launch

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+<launch>
+
+  <arg name="config" default="$(find rosparam_handler_tutorial)/launch/params/demo_parameters.yaml" />
+
+  <node pkg="rosparam_handler_tutorial" type="demo" name="demo" output="screen">
+    <rosparam command="load" file="$(arg config)"/>
+  </node>
+
+  <node name="reconfigure_gui" pkg="rqt_reconfigure" type="rqt_reconfigure" />
+
+</launch>

launch/demo_nodelet.launch

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+<launch>
+
+    <arg name="config" default="$(find rosparam_handler_tutorial)/launch/params/demo_parameters.yaml"/>
+    <arg name="nodelet_manager_name" default="nodelet_manager_demo"/>
+    <arg name="start_nodelet_manager" default="true"/>
+    <arg name="nodelet_name" default="demo"/>
+
+    <!-- Nodelet manager (if enabled) -->
+    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen"
+          if="$(arg start_nodelet_manager)"/>
+
+    <!-- Demo -->
+    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_name)"
+          args="load rosparam_handler_tutorial/DemoNodelet $(arg nodelet_manager_name)" output="screen" required="true">
+        <rosparam command="load" file="$(arg config)"/>
+    </node>
+
+
+    <node name="reconfigure_gui" pkg="rqt_reconfigure" type="rqt_reconfigure" />
+
+
+</launch>

launch/params/demo_parameters.yaml

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+# Use this file to specify parameters, that do not have default values.
+# YAML Files can also be helpfull if you want to save parameters for different use-cases.
+# In any way: Default values should go into the .mrtcfg file!
+#
+# Use 'key: value' pairs, e.g.
+# string: 'foo'
+# integer: 1234
+# float: 1234.5
+# boolean: true
+# vector: [1.0, 2.0, 3.4]
+# map: {"a": "b", "c": "d"}
+
+int_param: 1
+double_param: 12.2
+bool_param: True
+vector_param: [1.0, 2.0, 3.4] 
+map_param: {"a": "b", "c": "d"} 
+weight: 2.3 
+age: 1
+configurable_parameter: 10.

nodelet_plugins.xml

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+<library path="lib/libdemo_nodelet">
+<class name="rosparam_handler_tutorial/DemoNodelet"
+       type="rosparam_handler_tutorial::DemoNodelet" base_class_type="nodelet::Nodelet">
+  <description></description>
+</class>
+</library>

package.xml

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+<package format="2">
+    <name>rosparam_handler_tutorial</name>
+    <version>0.0.1</version>
+    <description>A demo node for the rosparam_handler package</description>
+
+    <license>BSD</license>
+
+    <maintainer email="[email protected]">Claudio Bandera</maintainer>
+    <author email="[email protected]">Claudio Bandera</author>
+    <url type="repository">https://github.com/cbandera/rosparam_handler_tutorial.git</url>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <build_depend>rosparam_handler</build_depend>
+    <depend>dynamic_reconfigure</depend>
+    <depend>roscpp</depend>
+    <depend>roslib</depend>
+    <depend>nodelet</depend>
+    <export>
+        <nodelet plugin="${prefix}/nodelet_plugins.xml" /><!-- Other tools can request additional information be placed here -->
+    </export>
+
+</package>

src/demo/demo.cpp

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+#include "demo.hpp"
+
+namespace rosparam_handler_tutorial {
+
+Demo::Demo(ros::NodeHandle node_handle, ros::NodeHandle private_node_handle)
+        : reconfigSrv_{private_node_handle}, params_{private_node_handle} {
+
+    /**
+     * Initialization
+     */
+    params_.fromParamServer();
+
+    /**
+     * Set up timer and dynamic reconfigure server
+     */
+    timer_ = private_node_handle.createTimer(ros::Duration(1. / params_.rate), &Demo::timerCallback, this);
+    reconfigSrv_.setCallback(boost::bind(&Demo::reconfigureRequest, this, _1, _2));
+}
+
+/*
+ * Use const ConstPtr for your callbacks.
+ * The 'const' assures that you can not edit incoming messages.
+ * The Ptr type guarantees zero copy transportation within nodelets.
+ */
+void Demo::timerCallback(const ros::TimerEvent& event) {
+    ROS_INFO_STREAM("Timer callback. configurable_parameter = " << params_.configurable_parameter
+                                                                << ". Enum: " << params_.my_enum);
+}
+
+/**
+  * This callback is called whenever a change was made in the dynamic_reconfigure window
+*/
+void Demo::reconfigureRequest(DemoConfig& config, uint32_t level) {
+    params_.fromConfig(config);
+    timer_.setPeriod(ros::Duration(1. / params_.rate));
+    ROS_WARN_STREAM("Parameter update:\n" << params_);
+}
+
+} // namespace rosparam_handler_tutorial

src/demo/demo.hpp

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+#pragma once
+
+#include <dynamic_reconfigure/server.h>
+#include <ros/ros.h>
+#include "rosparam_handler_tutorial/DemoParameters.h"
+
+namespace rosparam_handler_tutorial {
+
+class Demo {
+public:
+    Demo(ros::NodeHandle, ros::NodeHandle);
+
+private:
+    DemoParameters params_;
+
+    ros::Timer timer_;
+    dynamic_reconfigure::Server<DemoConfig> reconfigSrv_; // Dynamic reconfiguration service
+
+    void timerCallback(const ros::TimerEvent& event);
+    void reconfigureRequest(DemoConfig&, uint32_t);
+};
+
+} // namespace rosparam_handler_tutorial

src/demo/demo_node.cpp

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+#include "demo.hpp"
+
+int main(int argc, char* argv[]) {
+
+    ros::init(argc, argv, "demo_node");
+
+    rosparam_handler_tutorial::Demo demo(ros::NodeHandle(), ros::NodeHandle("~"));
+
+    ros::spin();
+    return 0;
+}

src/demo/demo_nodelet.cpp

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+#include "demo.hpp"
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace rosparam_handler_tutorial {
+
+class DemoNodelet : public nodelet::Nodelet {
+
+    virtual void onInit();
+    boost::shared_ptr<Demo> m_;
+};
+
+void DemoNodelet::onInit() {
+    m_.reset(new Demo(getNodeHandle(), getPrivateNodeHandle()));
+}
+
+} // namespace rosparam_handler_tutorial
+
+PLUGINLIB_DECLARE_CLASS(rosparam_handler_tutorial, DemoNodelet, rosparam_handler_tutorial::DemoNodelet, nodelet::Nodelet);