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feat: add parameter synchronization and validation methods in Parameters and OBCameraNode classes

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This commit is contained in:
ob-yalian
2026-06-05 09:15:38 +08:00
parent e363537da4
commit c086004c19
4 changed files with 182 additions and 19 deletions
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orbbec_camera/src/dynamic_params.cpp
+20
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@@ -23,6 +23,9 @@ Parameters::Parameters(rclcpp::Node *node)
[this](const std::vector<rclcpp::Parameter> &parameters) {
for (const auto &parameter : parameters) {
if (param_functions_.find(parameter.get_name()) != param_functions_.end()) {
if (suppress_runtime_change_warning_) {
continue;
}
auto functions = param_functions_[parameter.get_name()];
if (functions.empty()) {
RCLCPP_WARN_STREAM(logger_, "Parameter " << parameter.get_name()
@@ -130,6 +133,23 @@ void Parameters::setParamValue(T &param, const T &value) {
}
}
void Parameters::syncParameterValue(const std::string &param_name, const std::string &value) {
const bool previous_suppression = suppress_runtime_change_warning_;
suppress_runtime_change_warning_ = true;
try {
rcl_interfaces::msg::SetParametersResult result =
node_->set_parameter(rclcpp::Parameter(param_name, value));
suppress_runtime_change_warning_ = previous_suppression;
if (!result.successful) {
RCLCPP_WARN_STREAM(logger_, "Parameter: " << param_name << " was not set: "
<< result.reason);
}
} catch (const std::exception &e) {
suppress_runtime_change_warning_ = previous_suppression;
RCLCPP_WARN_STREAM(logger_, "Parameter: " << param_name << " was not set: " << e.what());
}
}
void Parameters::removeParam(const std::string &param_name) {
node_->undeclare_parameter(param_name);
param_functions_.erase(param_name);