Added DynamicReconfigure for RangeFilters

Tried to make as few changes as possible (leaving style as is and
leaving implementation in the header file).

Also tried to make the code backward compatible.

CMakeLists.txt

@@ -22,6 +22,7 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 generate_dynamic_reconfigure_options(
   cfg/IntensityFilter.cfg
   cfg/PolygonFilter.cfg
+  cfg/RangeFilter.cfg
   cfg/ScanShadowsFilter.cfg
   cfg/SpeckleFilter.cfg
 )

cfg/RangeFilter.cfg

@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2020, Eurotec, Netherlands
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the TNO IVS nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# \author Rein Appeldoorn
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE = "laser_filters"
+
+gen = ParameterGenerator()
+
+gen.add("lower_threshold", double_t, 0,
+        "Range values lower than this value will be filtered", 0.0, 0.0, 100000.0)
+gen.add("upper_threshold", double_t, 0,
+        "Range values greater than this value will be filtered", 100000.0, 0.0, 100000.0)
+gen.add("use_message_range_limits", bool_t, 0, "Use the range_min and range_max values from the laserscan message as threshold. Defaults to false", False)
+
+gen.add("lower_replacement_value", double_t, 0,
+        "Use this value for all measurements <lower_threshold. Default: NaN", 0, 0.0, 100000.0)
+
+gen.add("upper_replacement_value", double_t, 0,
+        "Use this value for all measurements >upper_threshold. Default: NaN", 100000.0, 0.0, 100000.0)
+
+exit(gen.generate(PACKAGE, "laser_filters", "RangeFilter"))

include/laser_filters/range_filter.h

@@ -40,6 +40,8 @@
 **/
 
 
+#include <dynamic_reconfigure/server.h>
+#include <laser_filters/RangeFilterConfig.h>
 #include "filters/filter_base.h"
 #include "sensor_msgs/LaserScan.h"
 
@@ -48,34 +50,27 @@ namespace laser_filters
 
 class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
 {
-public:
+  std::shared_ptr<dynamic_reconfigure::Server<RangeFilterConfig>> dyn_server_;
+  boost::recursive_mutex own_mutex_;
 
-  double lower_threshold_ ;
-  double upper_threshold_ ;
-  bool use_message_range_limits_ ;
-  float lower_replacement_value_ ;
-  float upper_replacement_value_ ;
+  RangeFilterConfig config_ = RangeFilterConfig::__getDefault__();
 
+public:
   bool configure()
   {
-    use_message_range_limits_ = false;
-    getParam("use_message_range_limits", use_message_range_limits_);
-
-    // work around the not implemented getParam(std::string name, float& value) method
-    double temp_replacement_value = std::numeric_limits<double>::quiet_NaN();
-    getParam("lower_replacement_value", temp_replacement_value);
-    lower_replacement_value_ = static_cast<float>(temp_replacement_value);
-
-    // work around the not implemented getParam(std::string name, float& value) method
-    temp_replacement_value = std::numeric_limits<double>::quiet_NaN();
-    getParam("upper_replacement_value", temp_replacement_value);
-    upper_replacement_value_ = static_cast<float>(temp_replacement_value);
-
-
-    lower_threshold_ = 0.0;
-    upper_threshold_ = 100000.0;
-    getParam("lower_threshold", lower_threshold_);
-    getParam("upper_threshold", upper_threshold_) ;
+    ros::NodeHandle private_nh("~" + getName());
+    dyn_server_.reset(new dynamic_reconfigure::Server<RangeFilterConfig>(own_mutex_, private_nh));
+    dynamic_reconfigure::Server<RangeFilterConfig>::CallbackType f;
+    f = boost::bind(&LaserScanRangeFilter::reconfigureCB, this, _1, _2);
+    dyn_server_->setCallback(f);
+
+    getParam("lower_threshold", config_.lower_threshold);
+    getParam("upper_threshold", config_.upper_threshold);
+    getParam("use_message_range_limits", config_.use_message_range_limits);
+    getParam("lower_replacement_value", config_.lower_replacement_value);
+    getParam("upper_replacement_value", config_.upper_replacement_value);
+
+    dyn_server_->updateConfig(config_);
     return true;
   }
 
@@ -86,30 +81,38 @@ class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
 
   bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
   {
-    if (use_message_range_limits_)
+    double lower_threshold = config_.lower_threshold;
+    double upper_threshold = config_.upper_threshold;
+
+    if (config_.use_message_range_limits)
     {
-      lower_threshold_ = input_scan.range_min;
-      upper_threshold_ = input_scan.range_max;
+      lower_threshold = input_scan.range_min;
+      upper_threshold = input_scan.range_max;
     }
     filtered_scan = input_scan;
     for (unsigned int i=0;
          i < input_scan.ranges.size();
          i++) // Need to check ever reading in the current scan
     {
 
-      if (filtered_scan.ranges[i] <= lower_threshold_)
+      if (filtered_scan.ranges[i] <= lower_threshold)
       {
-        filtered_scan.ranges[i] = lower_replacement_value_;
+        filtered_scan.ranges[i] = config_.lower_replacement_value;
 
       }
-      else if (filtered_scan.ranges[i] >= upper_threshold_)
+      else if (filtered_scan.ranges[i] >= upper_threshold)
       {
-        filtered_scan.ranges[i] = upper_replacement_value_;
+        filtered_scan.ranges[i] = config_.upper_replacement_value;
       }
     }
 
     return true;
   }
+
+  void reconfigureCB(RangeFilterConfig& config, uint32_t level)
+  {
+    config_ = config;
+  }
 } ;
 
 }