Use ParamListener::try_get_params to Avoid Blocking in Real-Time Contexts

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -144,9 +144,8 @@ controller_interface::return_type JointTrajectoryController::update(
   }
   auto logger = this->get_node()->get_logger();
   // update dynamic parameters
-  if (param_listener_->is_old(params_))
+  if (param_listener_->try_get_params(params_))
   {
-    params_ = param_listener_->get_params();
     default_tolerances_ = get_segment_tolerances(logger, params_);
     // update the PID gains
     // variable use_closed_loop_pid_adapter_ is updated in on_configure only

pid_controller/src/pid_controller.cpp

@@ -474,7 +474,7 @@ controller_interface::return_type PidController::update_and_write_commands(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   // check for any parameter updates
-  update_parameters();
+  param_listener_->try_get_params(params_);
 
   if (params_.use_external_measured_states)
   {