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use modern postSetParametersCallback #220

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use modern postSetParametersCallback #220

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6 changes: 2 additions & 4 deletions imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,7 @@ class ImuFilterMadgwickRos : public imu_filter::BaseNode
rclcpp::TimerBase::SharedPtr check_topics_timer_;

// Subscription for parameter change
rclcpp::AsyncParametersClient::SharedPtr parameters_client_;
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
parameter_event_sub_;
rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_parameters_callback_handle_;

// **** paramaters
WorldFrame::WorldFrame world_frame_;
Expand Down Expand Up @@ -108,7 +106,7 @@ class ImuFilterMadgwickRos : public imu_filter::BaseNode
void publishRawMsg(const rclcpp::Time& t, float roll, float pitch,
float yaw);

void reconfigCallback(rcl_interfaces::msg::ParameterEvent::SharedPtr event);
void postSetParametersCallback(const std::vector<rclcpp::Parameter>& parameters);
void checkTopicsTimerCallback();

void applyYawOffset(double& q0, double& q1, double& q2, double& q3);
Expand Down
37 changes: 15 additions & 22 deletions imu_filter_madgwick/src/imu_filter_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,12 +176,8 @@ ImuFilterMadgwickRos::ImuFilterMadgwickRos(const rclcpp::NodeOptions &options)
mag_bias_.y, mag_bias_.z);

// **** register dynamic reconfigure
parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
this->get_node_base_interface(), this->get_node_topics_interface(),
this->get_node_graph_interface(), this->get_node_services_interface());

parameter_event_sub_ = parameters_client_->on_parameter_event(
std::bind(&ImuFilterMadgwickRos::reconfigCallback, this, _1));
post_set_parameters_callback_handle_ =
this->add_post_set_parameters_callback(std::bind(&ImuFilterMadgwickRos::postSetParametersCallback, this, std::placeholders::_1));

// **** register publishers
imu_publisher_ = create_publisher<sensor_msgs::msg::Imu>("imu/data", 5);
Expand Down Expand Up @@ -498,42 +494,39 @@ void ImuFilterMadgwickRos::publishRawMsg(const rclcpp::Time &t, float roll,
rpy_raw_debug_publisher_->publish(rpy);
}

void ImuFilterMadgwickRos::reconfigCallback(
const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
void ImuFilterMadgwickRos::postSetParametersCallback(
const std::vector<rclcpp::Parameter>& parameters)
{
double gain, zeta;
std::lock_guard<std::mutex> lock(mutex_);

for (auto &changed_parameter : event->changed_parameters)
for (const auto& changed_parameter : parameters)
{
const auto &type = changed_parameter.value.type;
const auto &name = changed_parameter.name;
const auto &value = changed_parameter.value;
const auto &type = changed_parameter.get_type();
const auto &name = changed_parameter.get_name();
const auto &value = changed_parameter.get_value<double>();

if (type == ParameterType::PARAMETER_DOUBLE)
{
RCLCPP_INFO(get_logger(), "Parameter %s set to %f", name.c_str(),
value.double_value);
value);
if (name == "gain")
{
gain = value.double_value;
filter_.setAlgorithmGain(gain);
filter_.setAlgorithmGain(value);
} else if (name == "zeta")
{
zeta = value.double_value;
filter_.setDriftBiasGain(zeta);
filter_.setDriftBiasGain(value);
} else if (name == "mag_bias_x")
{
mag_bias_.x = value.double_value;
mag_bias_.x = value;
} else if (name == "mag_bias_y")
{
mag_bias_.y = value.double_value;
mag_bias_.y = value;
} else if (name == "mag_bias_z")
{
mag_bias_.z = value.double_value;
mag_bias_.z = value;
} else if (name == "orientation_stddev")
{
double orientation_stddev = value.double_value;
double orientation_stddev = value;
orientation_variance_ = orientation_stddev * orientation_stddev;
}
}
Expand Down
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