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+====== Dynamic Reconfigure ======
+The dynamic_reconfigure package provides a means to change node parameters at any
+time without having to restart the node.
+To create parameters that can be dynamically reconfigured do the following:
+===== Setup the package dependencies =====
+If starting a new package do:
+<code bash>
+catkin_create_pkg package_name ropsy roscpp dynamic_reconfigure
+</code>
+If modifying existing package:
+<code xml>
+<build_depend>dynamic_reconfigure</build_depend>
+<build_depend>roscpp</build_depend>
+<build_depend>rospy</build_depend>
+<build_export_depend>dynamic_reconfigure</build_export_depend>
+<build_export_depend>roscpp</build_export_depend>
+<build_export_depend>rospy</build_export_depend>
+<exec_depend>dynamic_reconfigure</exec_depend>
+<exec_depend>roscpp</exec_depend>
+<exec_depend>rospy</exec_depend>
+</code>
+===== Make a .cfg file. =====
+Add a config file and call it Something.cfg. Place it in package/cfg directory.
+<code python>
+#!/usr/bin/env python
+PACKAGE = "dynamic_tutorials"
+from dynamic_reconfigure.parameter_generator_catkin import *
+gen = ParameterGenerator()
+gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
+gen.add("double_param", double_t, 0, "A double parameter",    .5, 0,   1)
+gen.add("str_param",    str_t,    0, "A string parameter",  "Hello World")
+gen.add("bool_param",   bool_t,   0, "A Boolean parameter",  True)
+size_enum = gen.enum([ gen.const("Small",      int_t, 0, "A small constant"),
+                       gen.const("Medium",     int_t, 1, "A medium constant"),
+                       gen.const("Large",      int_t, 2, "A large constant"),
+                       gen.const("ExtraLarge", int_t, 3, "An extra large constant")],
+                     "An enum to set size")
+gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)
+# This is important. The second parameter should be the name of the pacakge
+# and the third parameter is the prefix of the generated libaries
+exit(gen.generate(PACKAGE, "dynamic_tutorials", "Tutorials"))
+</code>
+Set the config file to be exectutable:
+<code bash>
+chmod a+x cfg/Tutorials.cfg
+</code>
+Add the following to the CmakeLists.txt:
+<code cmake>
+# add dynamic reconfigure api
+#find_package(catkin REQUIRED dynamic_reconfigure)
+generate_dynamic_reconfigure_options(
+    cfg/Tutorials.cfg
+)
+# If using a c++ node, make sure that you add this dependency so that
+# the library gets generated before building the node
+# add_dependencies(example_node ${PROJECT_NAME}_gencfg)
+</code>
+===== Using the .cfg library in your node =====
+You can do this in python or c++. Import the generated Config library and attach a
+callback function to get the parameter updates. Then do whatever you want with the
+parameters! Yay! Follow these tutorials:
+[[http://wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode%28python%29|Python]]
+[[http://wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode%28cpp%29|C++]]