lidar_configuration.cpp

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/*  Copyright (c) 2023, Beamagine
 
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    are permitted provided that the following conditions are met:
 
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          used to endorse or promote products derived from this software without specific
          prior written permission.
 
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    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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#include <iostream>
#include <ros/ros.h>
 
#include <dynamic_reconfigure/server.h>
#include "l3cam_ros/LidarConfig.h"
 
#include <libL3Cam.h>
#include <beamagine.h>
#include <beamErrors.h>
 
#include "l3cam_ros/GetSensorsAvailable.h"
#include "l3cam_ros/ChangePointcloudColor.h"
#include "l3cam_ros/ChangePointcloudColorRange.h"
#include "l3cam_ros/ChangeDistanceRange.h"
#include "l3cam_ros/SetBiasShortRange.h"
#include "l3cam_ros/EnableAutoBias.h"
#include "l3cam_ros/ChangeBiasValue.h"
#include "l3cam_ros/ChangeAutobiasValue.h"
#include "l3cam_ros/ChangeStreamingProtocol.h"
#include "l3cam_ros/GetRtspPipeline.h"
 
#include "l3cam_ros/SensorDisconnected.h"
 
#include "l3cam_ros_utils.hpp"
 
namespace l3cam_ros
{
    class LidarConfiguration : public ros::NodeHandle
    {
    public:
        explicit LidarConfiguration() : ros::NodeHandle("~")
        {
            // Create service clients
            client_get_sensors_ = serviceClient<l3cam_ros::GetSensorsAvailable>("/L3Cam/l3cam_ros_node/get_sensors_available");
            client_color_ = serviceClient<l3cam_ros::ChangePointcloudColor>("/L3Cam/l3cam_ros_node/change_pointcloud_color");
            client_color_range_ = serviceClient<l3cam_ros::ChangePointcloudColorRange>("/L3Cam/l3cam_ros_node/change_pointcloud_color_range");
            client_distance_range_ = serviceClient<l3cam_ros::ChangeDistanceRange>("/L3Cam/l3cam_ros_node/change_distance_range");
            client_bias_short_range_ = serviceClient<l3cam_ros::SetBiasShortRange>("/L3Cam/l3cam_ros_node/set_bias_short_range");
            client_auto_bias_ = serviceClient<l3cam_ros::EnableAutoBias>("/L3Cam/l3cam_ros_node/enable_auto_bias");
            client_bias_value_ = serviceClient<l3cam_ros::ChangeBiasValue>("/L3Cam/l3cam_ros_node/change_bias_value");
            client_autobias_value_ = serviceClient<l3cam_ros::ChangeAutobiasValue>("/L3Cam/l3cam_ros_node/change_autobias_value");
            client_change_streaming_protocol_ = serviceClient<l3cam_ros::ChangeStreamingProtocol>("/L3Cam/l3cam_ros_node/change_streaming_protocol");
            client_get_rtsp_pipeline_ = serviceClient<l3cam_ros::GetRtspPipeline>("/L3Cam/l3cam_ros_node/get_rtsp_pipeline");
 
            loadDefaultParams();
 
            // Create service server
            srv_sensor_disconnected_ = advertiseService("lidar_configuration_disconnected", &LidarConfiguration::sensorDisconnectedCallback, this);
 
            m_default_configured = false;
            m_shutdown_requested = false;
        }
 
        void setDynamicReconfigure()
        {
            // Dynamic reconfigure callback
            // server_ is a pointer so we only declare it if sensor is available and reconfigure should be available
            server_ = new dynamic_reconfigure::Server<l3cam_ros::LidarConfig>;
            server_->setCallback(std::bind(&LidarConfiguration::parametersCallback, this, std::placeholders::_1, std::placeholders::_2));
        }
 
        void spin()
        {
            while (ros::ok() && !m_shutdown_requested)
            {
                ros::spinOnce();
                ros::Duration(0.1).sleep();
            }
 
            ros::shutdown();
        }
 
        ros::ServiceClient client_get_sensors_;
        l3cam_ros::GetSensorsAvailable srv_get_sensors_;
 
        int timeout_secs_;
 
    private:
        template <typename T>
        void loadParam(const std::string &param_name, T &param_var, const T &default_val)
        {
            std::string full_param_name;
 
            if (searchParam(param_name, full_param_name))
            {
                if (!getParam(full_param_name, param_var))
                {
                    ROS_ERROR_STREAM(this->getNamespace() << " error: Could not retreive '" << full_param_name << "' param value");
                }
            }
            else
            {
                ROS_WARN_STREAM(this->getNamespace() << " Parameter '" << param_name << "' not defined");
                param_var = default_val;
            }
        }
 
        void loadDefaultParams()
        {
            // Get and save parameters
            loadParam("timeout_secs", timeout_secs_, 60);
            loadParam("pointcloud_color", pointcloud_color_, 0);
            loadParam("pointcloud_color_range_minimum", pointcloud_color_range_minimum_, 0);
            loadParam("pointcloud_color_range_maximum", pointcloud_color_range_maximum_, 300000);
            loadParam("distance_range_minimum", distance_range_minimum_, 0);
            loadParam("distance_range_maximum", distance_range_maximum_, 300000);
            loadParam("bias_short_range", bias_short_range_, false);
            loadParam("auto_bias", auto_bias_, true);
            loadParam("bias_value_right", bias_value_right_, 1580);
            loadParam("bias_value_left", bias_value_left_, 1380);
            loadParam("autobias_value_right", autobias_value_right_, 50);
            loadParam("autobias_value_left", autobias_value_left_, 50);
            loadParam("lidar_streaming_protocol", lidar_streaming_protocol_, 0);
        }
 
        void configureDefault(l3cam_ros::LidarConfig &config)
        {
            // Configure default params to dynamix reconfigure if inside range
            if (pointcloud_color_ >= 0 && pointcloud_color_ <= 7 || pointcloud_color_ >= 12 && pointcloud_color_ <= 15)
            {
                config.pointcloud_color = pointcloud_color_;
            }
            else
            {
                pointcloud_color_ = config.pointcloud_color;
            }
 
            if (pointcloud_color_range_minimum_ >= 0 && pointcloud_color_range_minimum_ <= 300000)
            {
                config.pointcloud_color_range_minimum = pointcloud_color_range_minimum_;
            }
            else
            {
                pointcloud_color_range_minimum_ = config.pointcloud_color_range_minimum;
            }
 
            if (pointcloud_color_range_maximum_ >= 0 && pointcloud_color_range_maximum_ <= 300000)
            {
                config.pointcloud_color_range_maximum = pointcloud_color_range_maximum_;
            }
            else
            {
                pointcloud_color_range_maximum_ = config.pointcloud_color_range_maximum;
            }
 
            if (distance_range_minimum_ >= 0 && distance_range_minimum_ <= 300000)
            {
                config.distance_range_minimum = distance_range_minimum_;
            }
            else
            {
                distance_range_minimum_ = config.distance_range_minimum;
            }
 
            if (distance_range_maximum_ >= 0 && distance_range_maximum_ <= 300000)
            {
                config.distance_range_maximum = distance_range_maximum_;
            }
            else
            {
                distance_range_maximum_ = config.distance_range_maximum;
            }
 
            config.bias_short_range = bias_short_range_;
 
            config.auto_bias = auto_bias_;
            if (bias_value_right_ >= 700 && bias_value_right_ <= 3500)
            {
                config.bias_value_right = bias_value_right_;
            }
            else
            {
                bias_value_right_ = config.bias_value_right;
            }
 
            if (bias_value_left_ >= 700 && bias_value_left_ <= 3500)
            {
                config.bias_value_left = bias_value_left_;
            }
            else
            {
                bias_value_left_ = config.bias_value_left;
            }
 
            if (autobias_value_right_ >= 0 && autobias_value_right_ <= 100)
            {
                config.autobias_value_right = autobias_value_right_;
            }
            else
            {
                autobias_value_right_ = config.autobias_value_right;
            }
 
            if (autobias_value_left_ >= 0 && autobias_value_left_ <= 100)
            {
                config.autobias_value_left = autobias_value_left_;
            }
            else
            {
                autobias_value_left_ = config.autobias_value_left;
            }
 
            if (lidar_streaming_protocol_ == 0 || lidar_streaming_protocol_ == 1)
            {
                config.lidar_streaming_protocol = lidar_streaming_protocol_;
            }
            else
            {
                lidar_streaming_protocol_ = config.lidar_streaming_protocol;
            }
 
            // Get pipeline
            int error = L3CAM_OK;
            ros::Duration timeout_duration(timeout_secs_);
            if (!client_get_rtsp_pipeline_.waitForExistence(timeout_duration))
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error: " << getErrorDescription(L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR) << ". Waited " << timeout_duration << " seconds");
            }
            else
            {
                srv_get_rtsp_pipeline_.request.sensor_type = (int)sensorTypes::sensor_lidar;
                if (client_get_rtsp_pipeline_.call(srv_get_rtsp_pipeline_))
                {
                    error = srv_get_rtsp_pipeline_.response.error;
                    if (!error)
                    {
                        lidar_rtsp_pipeline_ = srv_get_rtsp_pipeline_.response.pipeline;
                        config.lidar_rtsp_pipeline = srv_get_rtsp_pipeline_.response.pipeline;
                    }
                    else
                    {
                        ROS_ERROR_STREAM(this->getNamespace() << " error " << error << " while getting RTSP pipeline: " << getErrorDescription(error));
                        config.lidar_rtsp_pipeline = "";
                        lidar_rtsp_pipeline_ = "";
                    }
                }
                else
                {
                    ROS_ERROR_STREAM(this->getNamespace() << " error: Failed to call service get_rtsp_pipeline");
                    config.lidar_rtsp_pipeline = "";
                    lidar_rtsp_pipeline_ = "";
                }
            }
 
            m_default_configured = true;
        }
 
        void parametersCallback(l3cam_ros::LidarConfig &config, uint32_t level)
        {
            int error = L3CAM_OK;
 
            if (!m_default_configured)
            {
                configureDefault(config);
            }
            else
            {
                // Filter by parameter and call service
                switch (level)
                {
                case 0: // pointcloud_color
                    error = callColor(config);
                    break;
                case 1: // pointcloud_color_range_minimum
                    error = callColorRange(config);
                    break;
                case 2: // pointcloud_color_range_maximum
                    error = callColorRange(config);
                    break;
                case 3: // distance_range_minimum
                    error = callDistanceRange(config);
                    break;
                case 4: // distance_range_maximum
                    error = callDistanceRange(config);
                    break;
                case 5: // bias_short_range
                    error = callBiasShortRange(config);
                    break;
                case 6: // auto_bias
                    error = callAutoBias(config);
                    break;
                case 7: // bias_value_right
                    error = callBiasValueRight(config);
                    break;
                case 8: // bias_value_left
                    error = callBiasValueLeft(config);
                    break;
                case 9: // autobias_value_right
                    error = callAutobiasValueRight(config);
                    break;
                case 10: // autobias_value_left
                    error = callAutobiasValueLeft(config);
                    break;
                case 11: // lidar_streaming_protocol
                    error = callStreamingProtocol(config);
                    break;
                case 12: // lidar_rtsp_pipeline
                    error = callRtspPipeline(config);
                    break;
                }
            }
 
            if (error)
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error " << error << " while changing parameter: " << getErrorDescription(error));
            }
        }
 
        // Service calls
        int callColor(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_color_.request.visualization_color = config.pointcloud_color;
            if (client_color_.call(srv_color_))
            {
                error = srv_color_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    pointcloud_color_ = config.pointcloud_color;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.pointcloud_color = pointcloud_color_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.pointcloud_color = pointcloud_color_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callColorRange(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_color_range_.request.min_value = config.pointcloud_color_range_minimum;
            srv_color_range_.request.max_value = config.pointcloud_color_range_maximum;
            if (client_color_range_.call(srv_color_range_))
            {
                error = srv_color_range_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    pointcloud_color_range_minimum_ = config.pointcloud_color_range_minimum;
                    pointcloud_color_range_maximum_ = config.pointcloud_color_range_maximum;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.pointcloud_color_range_minimum = pointcloud_color_range_minimum_;
                    config.pointcloud_color_range_maximum = pointcloud_color_range_maximum_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.pointcloud_color_range_minimum = pointcloud_color_range_minimum_;
                config.pointcloud_color_range_maximum = pointcloud_color_range_maximum_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callDistanceRange(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_distance_range_.request.min_value = config.distance_range_minimum;
            srv_distance_range_.request.max_value = config.distance_range_maximum;
            if (client_distance_range_.call(srv_distance_range_))
            {
                error = srv_distance_range_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    distance_range_minimum_ = config.distance_range_minimum;
                    distance_range_maximum_ = config.distance_range_maximum;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.distance_range_minimum = distance_range_minimum_;
                    config.distance_range_maximum = distance_range_maximum_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.distance_range_minimum = distance_range_minimum_;
                config.distance_range_maximum = distance_range_maximum_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callBiasShortRange(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_bias_short_range_.request.enabled = config.bias_short_range;
            if (client_bias_short_range_.call(srv_bias_short_range_))
            {
                error = srv_bias_short_range_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    bias_short_range_ = config.bias_short_range;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.bias_short_range = bias_short_range_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.bias_short_range = bias_short_range_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callAutoBias(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_auto_bias_.request.enabled = config.auto_bias;
            if (client_auto_bias_.call(srv_auto_bias_))
            {
                error = srv_bias_short_range_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    auto_bias_ = config.auto_bias;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.auto_bias = auto_bias_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.auto_bias = auto_bias_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callBiasValueRight(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_bias_value_.request.index = 1;
            srv_bias_value_.request.bias = config.bias_value_right;
            if (client_bias_value_.call(srv_bias_value_))
            {
                error = srv_bias_value_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    bias_value_right_ = config.bias_value_right;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.bias_value_right = bias_value_right_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.bias_value_right = bias_value_right_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callBiasValueLeft(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_bias_value_.request.index = 2;
            srv_bias_value_.request.bias = config.bias_value_left;
            if (client_bias_value_.call(srv_bias_value_))
            {
                error = srv_bias_value_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    bias_value_left_ = config.bias_value_left;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.bias_value_left = bias_value_left_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.bias_value_left = bias_value_left_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callAutobiasValueRight(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_autobias_value_.request.index = 1;
            srv_autobias_value_.request.autobias = config.autobias_value_right;
            if (client_autobias_value_.call(srv_autobias_value_))
            {
                error = srv_autobias_value_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    autobias_value_right_ = config.autobias_value_right;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.autobias_value_right = autobias_value_right_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.autobias_value_right = autobias_value_right_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callAutobiasValueLeft(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_autobias_value_.request.index = 2;
            srv_autobias_value_.request.autobias = config.autobias_value_left;
            if (client_autobias_value_.call(srv_autobias_value_))
            {
                error = srv_autobias_value_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    autobias_value_left_ = config.autobias_value_left;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.autobias_value_left = autobias_value_left_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.autobias_value_left = autobias_value_left_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callStreamingProtocol(l3cam_ros::LidarConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_change_streaming_protocol_.request.protocol = config.lidar_streaming_protocol;
            srv_change_streaming_protocol_.request.sensor_type = (int)sensorTypes::sensor_lidar;
            if (client_change_streaming_protocol_.call(srv_change_streaming_protocol_))
            {
                error = srv_change_streaming_protocol_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    lidar_streaming_protocol_ = config.lidar_streaming_protocol;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.lidar_streaming_protocol = lidar_streaming_protocol_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.lidar_streaming_protocol = lidar_streaming_protocol_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        int callRtspPipeline(l3cam_ros::LidarConfig &config)
        {
            // Read-only
            ROS_WARN_STREAM(this->getNamespace() << " The RTSP Pipeline parameter is read-only, only changeable at launch");
            config.lidar_rtsp_pipeline = lidar_rtsp_pipeline_;
 
            return L3CAM_OK;
        }
 
        bool sensorDisconnectedCallback(l3cam_ros::SensorDisconnected::Request &req, l3cam_ros::SensorDisconnected::Response &res)
        {
            ROS_BMG_UNUSED(res);
            if (req.code == 0)
            {
                ROS_INFO_STREAM(this->getNamespace() << " Exiting " << this->getNamespace() << " cleanly.");
            }
            else
            {
                ROS_WARN_STREAM(this->getNamespace() << " Exiting " << this->getNamespace() << ". Sensor got disconnected with error " << req.code << ": " << getErrorDescription(req.code));
            }
 
            m_shutdown_requested = true;
            return true;
        }
 
        dynamic_reconfigure::Server<l3cam_ros::LidarConfig> *server_;
 
        ros::ServiceClient client_color_;
        l3cam_ros::ChangePointcloudColor srv_color_;
        ros::ServiceClient client_color_range_;
        l3cam_ros::ChangePointcloudColorRange srv_color_range_;
        ros::ServiceClient client_distance_range_;
        l3cam_ros::ChangeDistanceRange srv_distance_range_;
        ros::ServiceClient client_bias_short_range_;
        l3cam_ros::SetBiasShortRange srv_bias_short_range_;
        ros::ServiceClient client_auto_bias_;
        l3cam_ros::EnableAutoBias srv_auto_bias_;
        ros::ServiceClient client_bias_value_;
        l3cam_ros::ChangeBiasValue srv_bias_value_;
        ros::ServiceClient client_autobias_value_;
        l3cam_ros::ChangeAutobiasValue srv_autobias_value_;
        ros::ServiceClient client_change_streaming_protocol_;
        l3cam_ros::ChangeStreamingProtocol srv_change_streaming_protocol_;
        ros::ServiceClient client_get_rtsp_pipeline_;
        l3cam_ros::GetRtspPipeline srv_get_rtsp_pipeline_;
 
        ros::ServiceServer srv_sensor_disconnected_;
 
        int pointcloud_color_;
        int pointcloud_color_range_minimum_;
        int pointcloud_color_range_maximum_;
        int distance_range_minimum_;
        int distance_range_maximum_;
        bool bias_short_range_;
        bool auto_bias_;
        int bias_value_right_;
        int bias_value_left_;
        int autobias_value_right_;
        int autobias_value_left_;
        int lidar_streaming_protocol_;
        std::string lidar_rtsp_pipeline_;
 
        bool m_default_configured;
        bool m_shutdown_requested;
 
    }; // class LidarConfiguration
 
} // namespace l3cam_ros
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "lidar_configuration");
 
    l3cam_ros::LidarConfiguration *node = new l3cam_ros::LidarConfiguration();
 
    // Check if service is available
    ros::Duration timeout_duration(node->timeout_secs_);
    if (!node->client_get_sensors_.waitForExistence(timeout_duration))
    {
        ROS_ERROR_STREAM(node->getNamespace() << " error: " << getErrorDescription(L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR) << ". Waited " << timeout_duration << " seconds");
        return L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR;
    }
 
    int error = L3CAM_OK;
    bool sensor_is_available = false;
    // Shutdown if sensor is not available or if error returned
    if (node->client_get_sensors_.call(node->srv_get_sensors_))
    {
        error = node->srv_get_sensors_.response.error;
 
        if (!error)
        {
            for (int i = 0; i < node->srv_get_sensors_.response.num_sensors; ++i)
            {
                if (node->srv_get_sensors_.response.sensors[i].sensor_type == sensor_lidar && node->srv_get_sensors_.response.sensors[i].sensor_available)
                {
                    sensor_is_available = true;
                }
            }
        }
        else
        {
            ROS_ERROR_STREAM(node->getNamespace() << " error " << error << " while checking sensor availability: " << getErrorDescription(error));
            return error;
        }
    }
    else
    {
        ROS_ERROR_STREAM(node->getNamespace() << " error: Failed to call service get_sensors_available");
        return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
    }
 
    if (sensor_is_available)
    {
        ROS_INFO("LiDAR configuration is available");
    }
    else
    {
        return 0;
    }
 
    node->setDynamicReconfigure();
 
    node->spin();
 
    ros::shutdown();
    return 0;
}