feat(autonomous_emergency_braking): add param update support for AEB #6956
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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…utowarefoundation#6956) add param update support for AEB Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Description
Add param update support (ie. rqt reconfigure) for the AEB module.
Note that the aeb_hz is not included on the paramUpdate list since it is directly linked to a Timer and I am not quite sure if is is possible to reset the timer like this:
{ // start time double aeb_hz{0.0}; const bool is_aeb_hz_updated = updateParam<double>(parameters, "aeb_hz", aeb_hz); if (is_aeb_hz_updated) { const auto period_ns = rclcpp::Rate(aeb_hz).period(); timer_.reset(); timer_ = rclcpp::create_timer(this, this->get_clock(), period_ns, std::bind(&AEB::onTimer, this)); } }Without it causing troubles?
Related links
Tests performed
PSim + rqt_reconfigure
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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