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Use post-set parameters callback (backport #41) #42

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May 8, 2024
Merged

Use post-set parameters callback (backport #41) #42

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25 changes: 14 additions & 11 deletions aruco_opencv/src/aruco_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode

// ROS
OnSetParametersCallbackHandle::SharedPtr on_set_parameter_callback_handle_;
PostSetParametersCallbackHandle::SharedPtr post_set_parameter_callback_handle_;
rclcpp_lifecycle::LifecyclePublisher<aruco_opencv_msgs::msg::ArucoDetection>::SharedPtr
detection_pub_;
rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>::SharedPtr debug_pub_;
Expand Down Expand Up @@ -160,11 +161,10 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
detection_pub_->on_activate();
debug_pub_->on_activate();

on_set_parameter_callback_handle_ =
add_on_set_parameters_callback(
std::bind(
&ArucoTracker::callback_on_set_parameters,
this, std::placeholders::_1));
on_set_parameter_callback_handle_ = add_on_set_parameters_callback(
std::bind(&ArucoTracker::callback_on_set_parameters, this, std::placeholders::_1));
post_set_parameter_callback_handle_ = add_post_set_parameters_callback(
std::bind(&ArucoTracker::callback_post_set_parameters, this, std::placeholders::_1));

RCLCPP_INFO(get_logger(), "Waiting for first camera info...");

Expand Down Expand Up @@ -204,6 +204,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
RCLCPP_INFO(get_logger(), "Deactivating");

on_set_parameter_callback_handle_.reset();
post_set_parameter_callback_handle_.reset();
cam_info_sub_.reset();
img_sub_.reset();
compressed_img_sub_.reset();
Expand Down Expand Up @@ -235,6 +236,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
RCLCPP_INFO(get_logger(), "Shutting down");

on_set_parameter_callback_handle_.reset();
post_set_parameter_callback_handle_.reset();
cam_info_sub_.reset();
img_sub_.reset();
compressed_img_sub_.reset();
Expand Down Expand Up @@ -328,6 +330,11 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
}
}

return result;
}

void callback_post_set_parameters(const std::vector<rclcpp::Parameter> & parameters)
{
bool aruco_param_changed = false;
for (auto & param : parameters) {
if (param.get_name() == "marker_size") {
Expand All @@ -345,13 +352,9 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
"Parameter \"" << param.get_name() << "\" changed to " << param.value_to_string());
}

if (!aruco_param_changed) {
return result;
if (aruco_param_changed) {
retrieve_aruco_parameters(*this, detector_parameters_);
}

retrieve_aruco_parameters(*this, detector_parameters_);

return result;
}

void load_boards()
Expand Down
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