removed debug msgs, fixed depends, parsing urdf

CMakeLists.txt

@@ -11,7 +11,7 @@ else()
   add_compile_options(-DROBOT_BODY_FILTER_USE_CXX_OPTIONAL=0)
 endif()
 
-set(THIS_PACKAGE_DEPS filters geometric_shapes laser_geometry moveit_core moveit_ros_perception rclcpp sensor_msgs std_srvs pcl_conversions tf2 tf2_ros tf2_eigen urdf visualization_msgs GLUT )
+set(THIS_PACKAGE_DEPS urdf urdf_parser_plugin filters geometric_shapes_local laser_geometry moveit_core moveit_ros_perception rclcpp sensor_msgs std_srvs pcl_conversions tf2 tf2_ros tf2_eigen urdf visualization_msgs GLUT )
 set(MESSAGE_DEPS geometry_msgs std_msgs)
 
 find_package(ament_cmake REQUIRED)
@@ -139,8 +139,7 @@ if (BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include include/${PROJECT_NAME} include/${PROJECT_NAME}/utils)
-ament_export_dependencies(${THIS_PACKAGE_DEPS})
-ament_export_include_directories(include)
+ament_export_dependencies(${THIS_PACKAGE_DEPS} rosidl_default_runtime)
 ament_export_libraries(${PROJECT_NAME} TFFramesWatchdog RayCastingShapeMask tf2_sensor_msgs_rbf ${PROJECT_NAME}_utils)
 ament_export_targets(
   export_${PROJECT_NAME}

include/robot_body_filter/RobotBodyFilter.h

@@ -8,6 +8,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 // #include <robot_body_filter/utils/filter_utils.hpp>
+// #include <robot_body_filter/robot_body_filter/msg/oriented_bounding_box_stamped.hpp>
 #include <robot_body_filter/utils/tf2_sensor_msgs.h>
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <robot_body_filter/RayCastingShapeMask.h>
@@ -205,7 +206,9 @@ class RobotBodyFilter : public filters::FilterBase<T> {
   std::string robotDescriptionParam;
 
   //! Subscriber for robot_description updates.
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robotDescriptionUpdatesListener;
+  std::shared_ptr<rclcpp::AsyncParametersClient> robotDescriptionUpdatesListener;
+  // Callback group for dynamic updates
+  rclcpp::CallbackGroup::SharedPtr AsyncCallbackGroup;
 
   //! Name of the field in the dynamic reconfigure message that contains robot model.
   std::string robotDescriptionUpdatesFieldName;

package.xml

@@ -18,7 +18,7 @@
 
   <!-- <depend>dynamic_reconfigure</depend> -->
   <depend>filters</depend>
-  <depend>geometric_shapes</depend>
+  <depend>geometric_shapes_local</depend>
   <depend>geometry_msgs</depend>
   <depend>laser_geometry</depend>
   <depend>libpcl-all-dev</depend>
@@ -33,6 +33,7 @@
   <depend>urdf</depend>
   <depend>visualization_msgs</depend>
   <depend>pcl_conversions</depend>
+  <depend>urdf_parser_plugin</depend>
   <!-- <depend>fcl</depend> -->
 
   <build_depend>tf2_eigen</build_depend>