dynamic reconfigure for servo position control in runtime.

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Hi,

I want to control a servo's two extreme positions in runtime. I looked into both dynamic_reconfigure as well as actionlib. It seems that I could use both, but I am not very sure of which one would be best suitable. The problem is as follows:

1. I use dynamixel_controller package to run the servo. it's position data are fed through a .yaml file, which is called as rosparam in the launch file.

2. In my application, I want to change the servo's extreme positions in run time. I have written another package to work with lidar's pointcloud that subscribes servo /state topic to know servo positions. I know this dynamic position updates and the two limit points where I want to set the servo. But, I am not sure how to provide that input to the dynamixel controller's position parameters in run time.

3. BTW, dynamixel_controller is written in python and my package is written in c++.

thanks,