Improved dynamic reconfigure server

OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package

http://www.ros.org/wiki/octomap_mapping

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Improved dynamic reconfigure server #14

Closed jvgomez closed 9 years ago

jvgomez commented 9 years ago

This PR includes the necessary code to change online octomap server parameters, so that it is easier to tune when running on a real robot.

At the beginning I had some issues with the parameter names such as sensor_model/param but now it seems to work OK.

Please tell me any improvement I can make.

ahornung commented 9 years ago

Looking great, thanks!

I think another useful addition for dynamic_reconfigure would be the remaining sensor model parameter (probability for hit/miss, threshold), if you feel like adding them as well ;)