[DEX] make CM pointcloud min_height and max_height

botsandus · Nov 21, 2024 · f88dda8 · f88dda8
1 parent 37badc5
commit f88dda8
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Showing 2 changed files with 33 additions and 0 deletions.
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp
@@ -88,6 +88,13 @@ class PointCloud : public Source
    */
   void dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
 
+  /**
+   * @brief Callback executed when a parameter change is detected
+   * @param event ParameterEvent message
+   */
+  rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
+    std::vector<rclcpp::Parameter> parameters);
+
   // ----- Variables -----
 
   /// @brief PointCloud data subscriber

diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp
@@ -63,6 +63,10 @@ void PointCloud::configure()
   data_sub_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     source_topic, pointcloud_qos,
     std::bind(&PointCloud::dataCallback, this, std::placeholders::_1));
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&PointCloud::dynamicParametersCallback, this, std::placeholders::_1));
 }
 
 bool PointCloud::getData(
@@ -123,4 +127,26 @@ void PointCloud::dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
   data_ = msg;
 }
 
+rcl_interfaces::msg::SetParametersResult
+PointCloud::dynamicParametersCallback(
+  std::vector<rclcpp::Parameter> parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+
+  for (auto parameter : parameters) {
+    const auto & param_type = parameter.get_type();
+    const auto & param_name = parameter.get_name();
+
+    if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
+      if (param_name == source_name_ + "." + "min_height") {
+        min_height_ = parameter.as_double();
+      } else if (param_name == source_name_ + "." + "max_height") {
+        max_height_ = parameter.as_double();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
 }  // namespace nav2_collision_monitor