+ def execute_dyn_reconf(self, config, level):
+ self.bClipRangeSensor = config["range_sensor_clip"]
+ self.range_sensor_max = config["range_sensor_max"]
+ self.odom_covar_xy = config["odom_covar_xy"]
+ self.odom_covar_angle = config["odom_covar_angle"]
+ self.pitch_handicap_enable = config["pitch_handicap_enable"]
+ self.pitch_handicap_limit = config["pitch_handicap_limit"]
+ self.pitch_handicap_strength = config["pitch_handicap_strength"]
+
+ if not self.pitch_handicap_enable:
+ self.set_motor_handicap(0, 0)
+
+ return config
+