/*
* dynamic reconfigure call back
*/
void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level)
{
//
// Odometry Settings
//
robot->lock();
if(TicksMM != config.TicksMM and config.TicksMM > 0)
{
ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM);
TicksMM = config.TicksMM;
robot->comInt(93, TicksMM);
}
if(DriftFactor != config.DriftFactor)
{
ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor);
DriftFactor = config.DriftFactor;
robot->comInt(89, DriftFactor);
}
if(RevCount != config.RevCount and config.RevCount > 0)
{
ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount);
RevCount = config.RevCount;
robot->comInt(88, RevCount);
}
//
// Acceleration Parameters
//
int value;
value = config.trans_accel * 1000;
if(value != robot->getTransAccel() and value > 0)
{
ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value);
robot->setTransAccel(value);
}
value = config.trans_decel * 1000;
if(value != robot->getTransDecel() and value > 0)
{
ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value);
robot->setTransDecel(value);
}
value = config.lat_accel * 1000;
if(value != robot->getLatAccel() and value > 0)
{
ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value);
if (robot->getAbsoluteMaxLatAccel() > 0 )
robot->setLatAccel(value);
}
value = config.lat_decel * 1000;
if(value != robot->getLatDecel() and value > 0)
{
ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value);
if (robot->getAbsoluteMaxLatDecel() > 0 )
robot->setLatDecel(value);
}
value = config.rot_accel * 180/M_PI;
if(value != robot->getRotAccel() and value > 0)
{
ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value);
robot->setRotAccel(value);
}
value = config.rot_decel * 180/M_PI;
if(value != robot->getRotDecel() and value > 0)
{
ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value);
robot->setRotDecel(value);
}
robot->unlock();
}
void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level)
{
//ROS_INFO("Dynamic reconfigure callback fired!");
//
// Odometry Settings
//
robot->lock();
if(TicksMM != config.TicksMM and config.TicksMM > 0)
{
ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM);
TicksMM = config.TicksMM;
robot->comInt(93, TicksMM);
}
if(DriftFactor != config.DriftFactor)
{
ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor);
DriftFactor = config.DriftFactor;
robot->comInt(89, DriftFactor);
}
if(RevCount != config.RevCount and config.RevCount > 0)
{
ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount);
RevCount = config.RevCount;
robot->comInt(88, RevCount);
}
////
//// WHEN ROSPARAM INITIALIZES WITH THE DEFAULT VALUES, IT FILLS IN ONE NON-ZERO VALUE AT A TIME
//// CONSEQUENTLY, THE SAME _CORRECT_ VALUE IS SET TO MAKE SURE THAT parameter_updates, AND ROSPARAM
//// ALL REFLECT THE PROGRAMATICALLY SET DEFAULT VALUES AFTER INITIALIZATION COMPLETES
////
//
// Acceleration Parameters
//
double value;
value = config.trans_accel * 1000.0;
if(value != robot->getTransAccel() and value > 0)
{
ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %f m/s^2", config.trans_accel);
robot->setTransAccel(value);
}
else if (value == 0)
setDynParam("trans_accel", dynConf_default.trans_accel);
value = config.trans_decel * 1000.0;
if(value != robot->getTransDecel() and value > 0)
{
ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %f m/s^2", config.trans_decel);
robot->setTransDecel(value);
}
else if (value == 0)
setDynParam("trans_decel", dynConf_default.trans_decel);
value = config.rot_accel * 180.0/M_PI;
if(value != robot->getRotAccel() and value > 0)
{
ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %f radians/s^2", config.rot_accel);
robot->setRotAccel(value);
}
else if (value == 0)
setDynParam("rot_accel", dynConf_default.rot_accel);
value = config.rot_decel * 180.0/M_PI;
if(value != robot->getRotDecel() and value > 0)
{
ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %f radians/s^2", config.rot_decel);
robot->setRotDecel(value);
}
else if (value == 0)
setDynParam("rot_decel", dynConf_default.rot_decel);
value = config.rot_vel_max * 180.0/M_PI;
if(value != robot->getRotVelMax() and value > 0)
{
ROS_INFO("Setting RotVelMax from Dynamic Reconfigure: %f radians/s", config.rot_vel_max);
robot->setRotVelMax(value);
}
else if (value == 0)
setDynParam("rot_vel_max", dynConf_default.rot_vel_max);
value=config.trans_vel_max * 1000.0;
if (value != robot->getTransVelMax() and value > 0)
{
ROS_INFO("Setting TransVelMax from Dynamic Reconfigure: %f m/s", config.trans_vel_max);
robot->setTransVelMax(value);
}
else if (value == 0)
setDynParam("trans_vel_max", dynConf_default.trans_vel_max);
robot->unlock();
}
