我刚才所说的Python文件代码如下，你能再仔细说一遍要进行修改的内容吗：#! /usr/bin/env python import rospy from guidance_navigation_control.msg import controlCommand from guidance_navigation_control.msg import sensorInfo_actuatorStatus def gnc_data(gnc_data): print (gnc_data) while True: rospy.init_node('SENSORS_ACTUATORS') sensorActuator_pub = rospy.Publisher('sensorInfo_actuatorStatus', sensorInfo_actuatorStatus, queue_size=10) rospy.Subscriber('controlCommand', controlCommand, gnc_data) rate = rospy.Rate(10) final_message = sensorInfo_actuatorStatus() while not rospy.is_shutdown(): final_message.yaw_current = 17 final_message.depth_current = 21 final_message.temperature = 72 final_message.thruster_values[0] = 1600 final_message.thruster_values[1] = 1300 final_message.thruster_values[2] = 1700 final_message.thruster_values[3] = 1200 final_message.thruster_values[4] = 1500 final_message.thruster_values[5] = 1800 final_message.stabilized = True sensorActuator_pub.publish(final_message) rate.sleep() else: exit()

当您将参数定义为动态可配置后，您需要使用`dynamic_reconfigure`库来更新这些参数。在您的Python文件中，您需要做以下修改：

1. 导入`dynamic_reconfigure.server.Server`类和`SensorActuatorConfig`类：

from dynamic_reconfigure.server import Server
from sensor_actuator.cfg import SensorActuatorConfig

请注意，`sensor_actuator`应该替换为您的功能包的名称。

2. 在`callback`函数中更新参数：

def callback(config, level):
    final_message.yaw_current = config.yaw_current
    final_message.depth_current = config.depth_current
    final_message.temperature = config.temperature
    return config

在上面的示例中，我们将`config`对象中的`yaw_current`、`depth_current`和`temperature`参数值分别赋值给`final_message`对象的对应参数。

3. 在主函数中创建Server对象并将其与`callback`函数关联：

srv = Server(SensorActuatorConfig, callback)

将完整修改后的Python代码放在下面：

#!/usr/bin/env python

import rospy
from guidance_navigation_control.msg import controlCommand
from guidance_navigation_control.msg import sensorInfo_actuatorStatus
from dynamic_reconfigure.server import Server
from sensor_actuator.cfg import SensorActuatorConfig

def callback(config, level):
    final_message.yaw_current = config.yaw_current
    final_message.depth_current = config.depth_current
    final_message.temperature = config.temperature
    return config

def gnc_data(gnc_data):
    print (gnc_data)

if __name__ == '__main__':
    rospy.init_node('SENSORS_ACTUATORS')
    sensorActuator_pub = rospy.Publisher('sensorInfo_actuatorStatus', sensorInfo_actuatorStatus, queue_size=10)
    rospy.Subscriber('controlCommand', controlCommand, gnc_data)
    rate = rospy.Rate(10)

    final_message = sensorInfo_actuatorStatus()

    # Initialize the dynamic reconfigure server
    srv = Server(SensorActuatorConfig, callback)

    while not rospy.is_shutdown():
        final_message.thruster_values = [1600, 1300, 1700, 1200, 1500, 1800]
        final_message.stabilized = True
        sensorActuator_pub.publish(final_message)
        rate.sleep()
    else:
        exit()

请注意，由于您的节点中还有其他参数，您需要更新`callback`函数以处理所有参数的更改。