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Fix the set_parameters_callback example program. #608

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Mar 27, 2023
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Fix the set_parameters_callback example program. #608

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28 changes: 22 additions & 6 deletions demo_nodes_cpp/src/parameters/set_parameters_callback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,14 +60,23 @@ class SetParametersCallback : public rclcpp::Node
auto on_set_parameter_callback =
[this](std::vector<rclcpp::Parameter> parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;

for (const auto & param : parameters) {
if (param.get_name() == "param1") {
result.successful = true;
result.reason = "success param1";
}
if (param.get_name() == "param2") {
result.successful = true;
result.reason = "success param2";
// Arbitrarily reject updates setting param1 > 5.0
if (param.get_value<double>() > 5.0) {
result.successful = false;
result.reason = "cannot set param1 > 5.0";
break;
}
} else if (param.get_name() == "param2") {
// Arbitrarily reject updates setting param2 < -5.0
if (param.get_value<double>() < -5.0) {
result.successful = false;
result.reason = "cannot set param2 < -5.0";
break;
}
}
}

Expand Down Expand Up @@ -95,6 +104,13 @@ class SetParametersCallback : public rclcpp::Node
on_set_parameter_callback);
post_set_parameters_callback_handle_ = this->add_post_set_parameters_callback(
post_set_parameter_callback);

printf("This node shows off parameter callbacks.");
printf("To do that, it exhibits the following behavior:\n");
printf(" * Two parameters of type double are declared on the node, param1 and param2\n");
printf(" * param1 cannot be set to a value > 5.0\n");
printf(" * param2 cannot be set to a value < -5.0\n");
printf(" * any time param1 is set, param2 is automatically set to 4.0\n");
}

private:
Expand Down