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Fixed parameters update callback when node doesn't have a namespace, and handle correct conversion of parameter types. (#1104)

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matlabbe
2024-01-20 13:21:39 -08:00
parent df67ad1f03
commit effb079c78
1 changed files with 25 additions and 2 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+25 -2
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@@ -838,7 +838,12 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
auto on_parameter_event_callback = auto on_parameter_event_callback =
[this](const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void [this](const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
{ {
if(event->node.compare(std::string(get_namespace())+"/"+get_name()) != 0) std::string ns = get_namespace();
if(ns != "/")
{
ns += "/";
}
if(event->node.compare(ns+get_name()) != 0)
{ {
return; return;
} }
@@ -850,7 +855,25 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
std::string key = event->changed_parameters[i].name; std::string key = event->changed_parameters[i].name;
if(parameters_.find(key) != parameters_.end()) if(parameters_.find(key) != parameters_.end())
{ {
std::string vStr = event->changed_parameters[i].value.string_value; std::string vStr;
switch(event->changed_parameters[i].value.type) {
case 1:
vStr = uBool2Str(event->changed_parameters[i].value.bool_value);
break;
case 2:
vStr = uNumber2Str((int)event->changed_parameters[i].value.integer_value);
break;
case 3:
vStr = uNumber2Str(event->changed_parameters[i].value.double_value);
break;
case 4:
vStr = event->changed_parameters[i].value.string_value;
break;
default:
RCLCPP_WARN(this->get_logger(), "Parameter type %d received for parameter %s is not supported, use string type.",
(int)event->changed_parameters[i].value.type, key.c_str());
continue;
}
RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\"", key.c_str(), vStr.c_str()); RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\"", key.c_str(), vStr.c_str());
parameters_.at(key) = vStr; parameters_.at(key) = vStr;
} }