From bb30d75494de4223017c20f39811b876c71ffea2 Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar@logivations.com>
Date: Mon, 31 Jul 2023 14:15:10 +0200
Subject: [PATCH] Add dynamic params

---
 nav2_collision_monitor/src/polygon.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
index 86439aa52ed..29812c31c60 100644
--- a/nav2_collision_monitor/src/polygon.cpp
+++ b/nav2_collision_monitor/src/polygon.cpp
@@ -380,6 +380,14 @@ Polygon::dynamicParametersCallback(
         max_points_ = parameter.as_int();
       }
     }
+    if (param_type == ParameterType::PARAMETER_DOUBLE) {
+      if (param_name == polygon_name_ + "." + "min_vel_before_stop") {
+        min_vel_before_stop_ = parameter.as_double();
+      }
+      else if (param_name == polygon_name_ + "." + "time_before_collision") {
+        time_before_collision_ = parameter.as_double();
+      }
+    }
   }
   result.successful = true;
   return result;