From b414f085576a6d977b44d1b35c547e4e7fde08a6 Mon Sep 17 00:00:00 2001
From: Nathan Hughes <nathan.h.hughes@gmail.com>
Date: Wed, 29 Oct 2025 03:05:16 +0000
Subject: [PATCH 1/2] add dynamic config server

---
 hydra_ros/app/hydra_node.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/hydra_ros/app/hydra_node.cpp b/hydra_ros/app/hydra_node.cpp
index 05702c6..bbd2fe4 100644
--- a/hydra_ros/app/hydra_node.cpp
+++ b/hydra_ros/app/hydra_node.cpp
@@ -39,6 +39,7 @@
 #include <config_utilities/parsing/context.h>
 #include <config_utilities/printing.h>
 #include <config_utilities/types/path.h>
+#include <config_utilities_ros/ros_dynamic_config_server.h>
 #include <hydra/common/global_info.h>
 #include <ianvs/node_init.h>
 #include <ianvs/spin_functions.h>
@@ -127,6 +128,7 @@ int main(int argc, char* argv[]) {
 
   [[maybe_unused]] const auto node = ianvs::init_node(argc, argv, "hydra_ros_node");
   auto nh = ianvs::NodeHandle::this_node();
+  const config::RosDynamicConfigServer config_servier(nh.node());
 
   std::shared_ptr<hydra::RosSink> ros_sink;
   if (settings.forward_glog_to_ros) {

From 8e71a7f3a5f27567bf90f098f5ef4f8e6976df90 Mon Sep 17 00:00:00 2001
From: Nathan Hughes <nathan.h.hughes@gmail.com>
Date: Wed, 29 Oct 2025 03:05:41 +0000
Subject: [PATCH 2/2] fix spelling

---
 hydra_ros/app/hydra_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hydra_ros/app/hydra_node.cpp b/hydra_ros/app/hydra_node.cpp
index bbd2fe4..924f8b1 100644
--- a/hydra_ros/app/hydra_node.cpp
+++ b/hydra_ros/app/hydra_node.cpp
@@ -128,7 +128,7 @@ int main(int argc, char* argv[]) {
 
   [[maybe_unused]] const auto node = ianvs::init_node(argc, argv, "hydra_ros_node");
   auto nh = ianvs::NodeHandle::this_node();
-  const config::RosDynamicConfigServer config_servier(nh.node());
+  const config::RosDynamicConfigServer config_server(nh.node());
 
   std::shared_ptr<hydra::RosSink> ros_sink;
   if (settings.forward_glog_to_ros) {