Class ParameterHandler

• Defined in File parameter_handler.hpp

Class Documentation

class ParameterHandler

Handles parameters and dynamic parameters for GracefulMotionController.

Public Functions

ParameterHandler(rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::string &plugin_name, rclcpp::Logger &logger, const double costmap_size_x)

Constructor for nav2_graceful_controller::ParameterHandler.

~ParameterHandler()

Destructor for nav2_graceful_controller::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

Protected Attributes

rclcpp_lifecycle::LifecycleNode::WeakPtr node_

std::mutex mutex_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

Parameters params_

std::string plugin_name_

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