Added the python module to add the necessary parameters to the cfg file.

CMakeLists.txt

 cmake_minimum_required(VERSION 2.8.3)
 project(iri_base_bt_client)
 
-# set(CMAKE_BUILD_TYPE "DEBUG")
+set(CMAKE_BUILD_TYPE "DEBUG")
 
 ## Add support for C++11, supported in ROS Kinetic and newer
 # add_definitions(-std=c++11)
@@ -20,6 +20,8 @@ find_package(catkin REQUIRED COMPONENTS
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+catkin_python_setup()
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

setup.py

+#!/usr/bin/env python
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+d = generate_distutils_setup(
+    packages=['iri_base_bt_client'],
+    package_dir={'': 'src'},
+    requires=['roslib', 'rospy', 'rosservice']
+)
+setup(**d)

src/iri_base_bt_client/submodule.py

+# submodule config parameters
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+def add_bt_client_params(gen):
+  new_group = gen.add_group('bt_client')
+
+  new_group.add("bt_client_rate",double_t,0,"Desired rate in Hz of the client", 1.0, 0.1, 1000.0)
+  new_group.add("bt_client_enable_cout_logger",bool_t,0,"Enables status printing in terminal", False)
+  new_group.add("bt_client_enable_minitrace_logger",bool_t,0,"Enables duration saving in log file", False)
+  new_group.add("bt_client_enable_file_logger",bool_t,0,"Enables status saving in log file", False)
+  new_group.add("bt_client_enable_zmq_publisher",bool_t,0,"Enables live status sending to Groot", False)