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parameter update handling #15

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parameter update handling #15

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32 changes: 32 additions & 0 deletions tricycle_controller/src/tricycle_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,38 @@ InterfaceConfiguration TricycleController::state_interface_configuration() const
controller_interface::return_type TricycleController::update(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (param_listener_->is_old(params_))
{
params_ = param_listener_->get_params();

RCLCPP_INFO(logger, "Parameters were updated");
try
{
limiter_traction_ = TractionLimiter(
params_.traction.min_velocity, params_.traction.max_velocity,
params_.traction.min_acceleration, params_.traction.max_acceleration,
params_.traction.min_deceleration, params_.traction.max_deceleration,
params_.traction.min_jerk, params_.traction.max_jerk);
}
catch (const std::invalid_argument & e)
{
RCLCPP_ERROR(get_node()->get_logger(), "Error configuring traction limiter: %s", e.what());
return CallbackReturn::ERROR;
}
try
{
limiter_steering_ = SteeringLimiter(
params_.steering.min_position, params_.steering.max_position, params_.steering.min_velocity,
params_.steering.max_velocity, params_.steering.min_acceleration,
params_.steering.max_acceleration);
}
catch (const std::invalid_argument & e)
{
RCLCPP_ERROR(get_node()->get_logger(), "Error configuring steering limiter: %s", e.what());
return CallbackReturn::ERROR;
}

}
// if the mutex is unable to lock, last_command_msg_ won't be updated
received_velocity_msg_ptr_.try_get([this](const std::shared_ptr<TwistStamped> & msg)
{ last_command_msg_ = msg; });
Expand Down