Hi Zhiping,

It's hard to tell without the full code. Here are some questions that
might help you find what's going wrong.

Are any of the dynamic reconfigure topics being created for you? (do
they show up with "rostopic list")
Does the test server in the dynamic_reconfigure package work for you?
Have you tried to set a breakpoint on the code in dynamic_reconfigure
that creates the dynamic reconfigure topics just to make sure that
code is being called?

On Sun, Feb 6, 2011 at 6:26 AM, Zhiping <TANZ0066@e.ntu.edu.sg> wrote:
>
> Thanks for the fast response.
> Actually i have instantiated the dynamic_reconfigure::Server in this way:
>
> 1) add statement in trajectory_planner.h
>     dynamic_reconfigure::Server<base_local_planner::MyStuffConfig> dsrv_
> ( line 366)
> 2) create an additional parameter  in TrajectoryPlanner::TrajectoryPlanner
> at trajectory_planner.cpp
>    dsrv_(ros::NodeHandle("~/"+name))
> ( line 106 )
>
> Will this do?
>
> At the same time, i also tried to rewrite the code in this way at the
> trajectory_planner.cpp
> dynamic_reconfigure::Server<base_local_planner::MyStuffConfig> srv;
> ( line 121)
> dynamic_reconfigure::Server<base_local_planner::MyStuffConfig>::CallbackType
> f = boost::bind(&TrajectoryPlanner::reconfigureCB,this, _1, _2);
> srv.setCallback(f);
>
> but it does not work too.
>
>
> --
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