From 3e389b9b78be119e9f92681407ad8163716de239 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 11 Mar 2022 18:36:55 +0800
Subject: [PATCH] Add getParametersCallbackHandle function

---
 include/control_toolbox/pid_ros.hpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index 7768e939..38f50b4a 100644
--- 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();