[roseus] add dynamic-reconfigure-server

[knorth55]

originally written by @YoheiKakiuchi

This PR add dyamic-reconfigure-server in roseus. this code is copied from https://github.com/jsk-ros-pkg/jsk-ros-pkg-unreleased/blob/master/sandbox/dynamic_reconfigure_eus/euslisp/dynamic_reconfigure_server.l and modified a little bit.

cc. @Kanazawanaoaki

[knorth55]

I added test for both

• dynamic_reconfigure server
• dynamic_reconfigure client

[tkmtnt7000]

dynamic reconfigureの正しいカバー範囲はどこまでかきちんと把握しないといけませんが，このPRのroseusのdynamic-reconfigure実装では

• rqt_reconfigureを使ってポチポチrosparamをいじることはできる
• rosparam listしても設定したparamは表示されず，変更できない

となっていそうなので報告しておきます．下のサンプルコードを実行してrosrun rqt_reconfigure rqt_reconfigureとrosparam listをそれぞれ別のターミナルでたちあげるのが再現手順です．サンプルコードに誤りがあるかもしれないのでその場合は教えてくださると助かります．

サンプルコード

#!/usr/bin/env roseus

(ros::roseus "twitter_client_warning")
(load "package://roseus/euslisp/dynamic-reconfigure-server.l")

(setq *volume* (ros::get-param "~volume" 1.0))
(setq *speak-enable* (ros::get-param "~speak_enable" t))
(setq *enable* (ros::get-param "~enable" t))
(setq *reconfigure-server*
      (def-dynamic-reconfigure-server
        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0)
         ("speak_enable"  bool_t  0  "tweet speak enable" t)
         ("enable"  bool_t  0  "tweet enable" t))
        ;; use lamda-closure to avoid memory error
        '(lambda-closure nil 0 0 (cfg level)
            (let ((prev-volume *volume*)
                  (prev-speak-enable *speak-enable*)
                  (prev-enable *enable*))
              (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
              (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal)))
              (setq *enable* (cdr (assoc "enable" cfg :test #'equal)))
              (if (null (equal *volume* prev-volume))
                (ros::ros-warn "Volume changed to: ~A" *volume*))
              (if (null (equal *enable* prev-enable))
                (ros::ros-warn "Enable changed to: ~A" *enable*))
              (if (null (equal *speak-enable* prev-speak-enable))
                (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*)))
            cfg)))

(ros::rate 1.0)
(while (ros::ok)
  (ros::spin-once)
  (ros::sleep)
  )

追記： :copy-to-parameter-server, :copy-from-parameter-serverを実装すればよい