如果要把下列代码中的yaw_current,depth_current,temperature变成可以用rqt_configure动态调参的参数，应该如何对他们进行动态参数重配置呢：#! /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()

要将yaw_current、depth_current和temperature变成可以用rqt_configure动态调参的参数，可以使用dynamic_reconfigure库。

首先，需要在ROS包的cfg目录下创建一个名为“configs.cfg”的动态参数重配置文件，并在其中定义需要动态重配置的参数。例如：

# Define dynamic parameters
int yaw_current
int depth_current
int temperature

接下来，在代码中导入dynamic_reconfigure库，并在回调函数中将接收到的动态参数值赋值给final_message中对应的变量。例如：

import rospy
from guidance_navigation_control.msg import controlCommand
from guidance_navigation_control.msg import sensorInfo_actuatorStatus
from dynamic_reconfigure.server import Server
from my_package.cfg import configsConfig

final_message = sensorInfo_actuatorStatus()

def gnc_data(gnc_data):
    print (gnc_data)
    
def dynamic_reconfig_callback(config, level):
    final_message.yaw_current = config.yaw_current
    final_message.depth_current = config.depth_current
    final_message.temperature = config.temperature
    return config

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)
    srv = Server(configsConfig, dynamic_reconfig_callback)
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        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()

最后，在launch文件中添加dynamic_reconfigure节点，让其运行configs.cfg文件。例如：

<node pkg="dynamic_reconfigure" type="dynamic_reconfigure" name="dynamic_reconfigure" args="configs_node_name configs.cfg" />

这样，就可以通过rqt_configure动态调参来修改yaw_current、depth_current和temperature的值了。