added msg and srv for web setting tool

applied test code

ball_detector/CMakeLists.txt

@@ -24,6 +24,13 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   circleSetStamped.msg
+  BallDetectorParams.msg
+)
+
+add_service_files(
+  FILES
+  GetParameters.srv
+  SetParameters.srv
 )
 
 generate_messages(
@@ -70,4 +77,4 @@ target_link_libraries(ball_detector_node
 
 ################################################################################
 # Test
-################################################################################
+################################################################################

ball_detector/include/ball_detector/ball_detector.h

@@ -27,6 +27,7 @@
 //ros dependencies
 #include <ros/ros.h>
 #include <std_msgs/Bool.h>
+#include <std_msgs/String.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/CameraInfo.h>
@@ -70,6 +71,8 @@ class BallDetector
   void dynParamCallback(ball_detector::detectorParamsConfig &config, uint32_t level);
   void enableCallback(const std_msgs::Bool::ConstPtr &msg);
 
+  void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
+
   void printConfig();
   void saveConfig();
   void setInputImage(const cv::Mat & inIm);
@@ -86,6 +89,7 @@ class BallDetector
   ros::NodeHandle nh_;
 
   ros::Subscriber enable_sub_;
+  ros::Subscriber param_command_sub_;
 
   //image publisher/subscriber
   image_transport::ImageTransport it_;

ball_detector/msg/BallDetectorParams.msg

@@ -0,0 +1,16 @@
+# This represents the parameters of ball_detector
+
+uint32  gaussian_blur_size      # only odd number, 1 - 11
+float32 gaussian_blur_sigma     # 1 - 5
+float32 canny_edge_th           # 50 - 200
+float32 hough_accum_resolution  # 1 - 8
+float32 hough_accum_th          # 10 - 200
+float32 min_circle_dist         # 10 - 200
+uint32  min_radius              # 10 - 200
+uint32  max_radius              # 100 - 600
+uint32  filter_h_min            # 0 - 359
+uint32  filter_h_max
+uint32  filter_s_min            # 0 - 255
+uint32  filter_s_max
+uint32  filter_v_min            # 0 - 255
+uint32  filter_v_max

ball_detector/src/ball_detector.cpp

@@ -79,6 +79,7 @@ BallDetector::BallDetector()
   enable_sub_ = nh_.subscribe("enable", 1, &BallDetector::enableCallback, this);
   image_sub_ = it_.subscribe("image_in", 1, &BallDetector::imageCallback, this);
   camera_info_sub_ = nh_.subscribe("cameraInfo_in", 100, &BallDetector::cameraInfoCallback, this);
+  param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this);
 
   //initializes newImageFlag
   new_image_flag_ = false;
@@ -260,6 +261,24 @@ void BallDetector::cameraInfoCallback(const sensor_msgs::CameraInfo & msg)
   camera_info_msg_ = msg;
 }
 
+void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
+{
+  if(msg->data == "debug")
+  {
+    params_config_.debug = true;
+    saveConfig();
+  }
+  else if(msg->data == "normal")
+  {
+    params_config_.debug = false;
+    saveConfig();
+  }
+  else if(msg->data == "reset")
+  {
+    // load default parameters and apply
+  }
+}
+
 void BallDetector::printConfig()
 {
   if (init_param_ == false)

ball_detector/srv/GetParameters.srv

@@ -0,0 +1,3 @@
+
+---
+BallDetectorParams  returns

ball_detector/srv/SetParameters.srv

@@ -0,0 +1,3 @@
+BallDetectorParams  params
+---
+BallDetectorParams  returns