Class ParameterHandler

• Defined in File parameter_handler.hpp

Class Documentation

class ParameterHandler

Handles parameters and dynamic parameters for laser_segmentation.

Public Functions

ParameterHandler(rclcpp_lifecycle::LifecycleNode::SharedPtr node, const rclcpp::Logger &logger)

Constructor for ParameterHandler.

~ParameterHandler() = default

Destructor for ParameterHandler.

inline std::mutex &getMutex()

inline Parameters *getParams()

Protected Functions

rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)

Callback executed when a parameter change is detected.

Parameters:

event – ParameterEvent message

template<typename NodeT>
inline void declare_parameter_if_not_declared(NodeT node, const std::string &param_name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor())

Declares static ROS2 parameter and sets it to a given value if it was not already declared.

Parameters:

• node – A node in which given parameter to be declared

• param_name – The name of parameter

• default_value – Parameter value to initialize with

• parameter_descriptor – Parameter descriptor (optional)

Protected Attributes

std::mutex mutex_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

Parameters params_

rclcpp::Logger logger_ = {rclcpp::get_logger("laser_segmentation")}