Add getParametersCallbackHandle function

huemerj · May 6, 2022 · 3e389b9 · 3e389b9
1 parent 1d63ea2
commit 3e389b9
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
@@ -177,6 +177,16 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    */
   void printValues();
 
+  /*!
+   * \brief Return PID parameters callback handle
+   * \return shared_ptr to the PID parameters callback handle
+   */
+  inline rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
+  getParametersCallbackHandle()
+  {
+    return parameter_callback_;
+  }
+
 private:
   void setParameterEventCallback();