Port param plugin #1567
Port param plugin #1567
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Oh, sorry, i done that port few hours ago. Not yet sure that it's working as i want. I will review your port later. Maybe i could get some better ideas... |
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Also please note that i'm thinking to use futures instead of cond vars where i can. |
mavros/src/plugins/param.cpp
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| msg.value.real = to_real(); | ||
| msg.param_id = get_name(); | ||
| msg.value.integer = as_int(); | ||
| msg.value.real = as_double(); |
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At that point you'll get exception: one of as_*() would throw it.
| param_value = float_tmp; | ||
| break; | ||
| // [[[end]]] (checksum: 5950e4ee032d4aa198b953f56909e129) | ||
| return Parameter(param_name, uv.param_float, pmsg.param_count, pmsg.param_index); |
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That part of conversions should work - ints are convertible to PARAMETER_INTEGER.
mavros/src/plugins/param.cpp
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| param_value = float_tmp; | ||
| break; | ||
| // [[[end]]] (checksum: c30ee34dd84213471690612ab49f1f73) | ||
| return Parameter(param_name, pmsg.param_value, pmsg.param_count, pmsg.param_index); |
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But here you likely get wrong type: pmsg.param_value is float, but it carries bools and integers.
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I think my plan was to wrap it in an appropriate type(pmsg.param_value) style cast to force the template. Evidently I never got around to it.
| set_srv = param_nh.advertiseService("set", &ParamPlugin::set_cb, this); | ||
| get_srv = param_nh.advertiseService("get", &ParamPlugin::get_cb, this); | ||
| auto parameters_qos = rclcpp::ParametersQoS(); | ||
| param_value_pub = node->create_publisher<mavros_msgs::msg::Param>("param_value", parameters_qos); |
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Added some fixes for "completeness". As you've already got the port done I'll close this |
Initial work to port param plugin to ROS2
Compiles but not yet tested.
Progress for #1559