Use newer 'add_on_set_parameters_callback' API

image_publisher/include/image_publisher/image_publisher.hpp

@@ -59,6 +59,8 @@ class ImagePublisher : public rclcpp::Node
   cv::Mat image_;
   rclcpp::TimerBase::SharedPtr timer_;
 
+  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
+
   std::string filename_;
   bool flip_horizontal_;
   bool flip_vertical_;

image_publisher/src/image_publisher.cpp

@@ -93,7 +93,7 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
       ImagePublisher::reconfigureCallback();
       return result;
     };
-  this->set_on_parameters_set_callback(param_change_callback);
+  on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
 }
 
 void ImagePublisher::reconfigureCallback()

image_rotate/include/image_rotate/image_rotate_node.hpp

@@ -86,6 +86,8 @@ class ImageRotateNode : public rclcpp::Node
   void disconnectCb();
   void onInit();
 
+  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
+
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_sub_;
   std::shared_ptr<tf2_ros::TransformBroadcaster> tf_pub_;

image_rotate/src/image_rotate_node.cpp

@@ -113,7 +113,7 @@ ImageRotateNode::ImageRotateNode()
       }
       return result;
     };
-  this->set_on_parameters_set_callback(reconfigureCallback);
+  on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(reconfigureCallback);
   onInit();
 }
 

image_view/include/image_view/image_view_node.hpp

@@ -69,6 +69,7 @@ class ImageViewNode
   std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>> pub_;
   std::string window_name_;
   std::thread window_thread_;
+  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
 
   void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
   static void mouseCb(int event, int x, int y, int flags, void * param);

image_view/src/image_view_node.cpp

@@ -142,7 +142,7 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
     window_thread_ = std::thread(&ImageViewNode::windowThread, this);
   }
 
-  this->set_on_parameters_set_callback(
+  on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(
     std::bind(&ImageViewNode::paramCallback, this, std::placeholders::_1));
 }
 

stereo_image_proc/src/stereo_image_proc/disparity_node.cpp

@@ -89,6 +89,9 @@ class DisparityNode : public rclcpp::Node
   // Publications
   std::shared_ptr<rclcpp::Publisher<stereo_msgs::msg::DisparityImage>> pub_disparity_;
 
+  // Handle to parameters callback
+  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
+
   // Processing state (note: only safe because we're single-threaded!)
   image_geometry::StereoCameraModel model_;
   // contains scratch buffers for block matching
@@ -175,7 +178,8 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
   }
 
   // Register a callback for when parameters are set
-  this->set_on_parameters_set_callback(std::bind(&DisparityNode::parameterSetCb, this, _1));
+  on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(
+    std::bind(&DisparityNode::parameterSetCb, this, _1));
 
   // Describe int parameters
   std::map<std::string, std::pair<int, rcl_interfaces::msg::ParameterDescriptor>> int_params;