Is there a way to tune PD gains online ?

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Hi everyone !

So i come up with quite an uncommon question. I am currently using gazebo 6 and controlling my robot (a 30-dof robot) through ros. To do so i am using the gazebo_ros_control plugin.

Everything works well. But now i would like to tune the motor's PD gains online. I am currently using the dynamic_reconfigure client which allow to change those gains during the simulation but it is very slow.

Do you know if there is a way to speed-up the dynamic_reconfigure client ? Or is there a way to create a node that could do the trick ?

Thanks for the help !