move per sensor param source_timeout logic to source.cpp

ros-navigation · Oct 27, 2023 · e54293f · e54293f
1 parent 94587d0
commit e54293f
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Showing 3 changed files with 12 additions and 18 deletions.
diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -259,32 +259,26 @@ bool CollisionDetector::configureSources(
         rclcpp::ParameterValue("scan"));  // Laser scanner by default
       const std::string source_type = get_parameter(source_name + ".type").as_string();
 
-      nav2_util::declare_parameter_if_not_declared(
-        node, source_name + ".source_timeout",
-        rclcpp::ParameterValue(source_timeout.seconds()));    // node source_timeout by default
-      const rclcpp::Duration sensor_specific_source_timeout = rclcpp::Duration::from_seconds(
-        get_parameter(source_name + ".source_timeout").as_double());
-
       if (source_type == "scan") {
         std::shared_ptr<Scan> s = std::make_shared<Scan>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         s->configure();
 
         sources_.push_back(s);
       } else if (source_type == "pointcloud") {
         std::shared_ptr<PointCloud> p = std::make_shared<PointCloud>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         p->configure();
 
         sources_.push_back(p);
       } else if (source_type == "range") {
         std::shared_ptr<Range> r = std::make_shared<Range>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         r->configure();
 

diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp
@@ -325,32 +325,26 @@ bool CollisionMonitor::configureSources(
         rclcpp::ParameterValue("scan"));  // Laser scanner by default
       const std::string source_type = get_parameter(source_name + ".type").as_string();
 
-      nav2_util::declare_parameter_if_not_declared(
-        node, source_name + ".source_timeout",
-        rclcpp::ParameterValue(source_timeout.seconds()));    // node source_timeout by default
-      const rclcpp::Duration sensor_specific_source_timeout = rclcpp::Duration::from_seconds(
-        get_parameter(source_name + ".source_timeout").as_double());
-
       if (source_type == "scan") {
         std::shared_ptr<Scan> s = std::make_shared<Scan>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         s->configure();
 
         sources_.push_back(s);
       } else if (source_type == "pointcloud") {
         std::shared_ptr<PointCloud> p = std::make_shared<PointCloud>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         p->configure();
 
         sources_.push_back(p);
       } else if (source_type == "range") {
         std::shared_ptr<Range> r = std::make_shared<Range>(
           node, source_name, tf_buffer_, base_frame_id, odom_frame_id,
-          transform_tolerance, sensor_specific_source_timeout, base_shift_correction);
+          transform_tolerance, source_timeout, base_shift_correction);
 
         r->configure();
 

diff --git a/nav2_collision_monitor/src/source.cpp b/nav2_collision_monitor/src/source.cpp
@@ -69,6 +69,12 @@ void Source::getCommonParameters(std::string & source_topic)
   nav2_util::declare_parameter_if_not_declared(
     node, source_name_ + ".enabled", rclcpp::ParameterValue(true));
   enabled_ = node->get_parameter(source_name_ + ".enabled").as_bool();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, source_name_ + ".source_timeout",
+    rclcpp::ParameterValue(source_timeout_.seconds()));      // node source_timeout by default
+  source_timeout_ = rclcpp::Duration::from_seconds(
+    node->get_parameter(source_name_ + ".source_timeout").as_double());
 }
 
 bool Source::sourceValid(