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Dynamic reconfigure CM pointcloud min_height and max_height #5366

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Merged
SteveMacenski merged 3 commits into from
Jul 18, 2025
Merged

Dynamic reconfigure CM pointcloud min_height and max_height #5366

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36a5c5f
[DEX] make CM pointcloud min_height and max_height
Jul 17, 2025
bd05fa0
[DEX] fix CM dynamicParametersCallback override
Dec 2, 2024
f0e44ec
adapt param validating style
kaichie Jul 18, 2025
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7 changes: 7 additions & 0 deletions nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,13 @@ class PointCloud : public Source
*/
void dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);

/**
* @brief Callback executed when a parameter change is detected
* @param event ParameterEvent message
*/
rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
std::vector<rclcpp::Parameter> parameters);

// ----- Variables -----

/// @brief PointCloud data subscriber
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32 changes: 32 additions & 0 deletions nav2_collision_monitor/src/pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,10 @@ void PointCloud::configure()
source_topic,
std::bind(&PointCloud::dataCallback, this, std::placeholders::_1),
nav2::qos::SensorDataQoS());

// Add callback for dynamic parameters
dyn_params_handler_ = node->add_on_set_parameters_callback(
std::bind(&PointCloud::dynamicParametersCallback, this, std::placeholders::_1));
}

bool PointCloud::getData(
Expand Down Expand Up @@ -124,4 +128,32 @@ void PointCloud::dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
data_ = msg;
}

rcl_interfaces::msg::SetParametersResult
PointCloud::dynamicParametersCallback(
std::vector<rclcpp::Parameter> parameters)
{
rcl_interfaces::msg::SetParametersResult result;

for (auto parameter : parameters) {
const auto & param_type = parameter.get_type();
const auto & param_name = parameter.get_name();
if(param_name.find(source_name_ + ".") != 0) {
continue;
}
if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
if (param_name == source_name_ + "." + "min_height") {
min_height_ = parameter.as_double();
} else if (param_name == source_name_ + "." + "max_height") {
max_height_ = parameter.as_double();
}
} else if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
if (param_name == source_name_ + "." + "enabled") {
enabled_ = parameter.as_bool();
}
}
}
result.successful = true;
return result;
}

} // namespace nav2_collision_monitor
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