+ def set_speed(self, mode):
+ with self.__lock_set_dynreconf:
+ if mode == "fast" and self.speed != "fast":
+ print "speed", mode
+ self.dynreconf.update_configuration({'max_vel_x': 1.0, 'max_vel_theta': 1.2, 'min_in_place_vel_theta': 1.0})
+ elif mode == "slow" and self.speed != "slow":
+ print "speed", mode
+ self.dynreconf.update_configuration({'max_vel_x': 0.5, 'max_vel_theta': 1.0, 'min_in_place_vel_theta': 0.4})
+ self.speed = mode
+