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ROS2 change of param types, backporting the use of dynamic reconfigure #275

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BrettRD opened this issue Jun 22, 2022 · 2 comments
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@BrettRD
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BrettRD commented Jun 22, 2022

I'm documenting the parameters used by the various aspects of Fuse, some of them can't be migrated to ros2 because ROS2 has stricter type checking

Specifically, optimiser/motion_models and optimiser/sensor_models use XmlRpc::XmlRpcValue::TypeArray which doesn't exist in ROS2.
In the ROS2 branch, I need to change the yaml structure to declare the names of the motion_models and sensor_models first, then fill in the properties of each afterwards.

examples of a proposed ROS2 compatible format: fuse_simple_tutorial range_sensor_tutorial

ROS2 also encourages the use of a built-in callback that is triggered when parameters change. In ROS1, this was handled by dynamic_reconfigure.
It seems like dynamic_reconfigure would be useful, should I make the effort to streamline a back-port?

@methylDragon
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With the completion of #276 , a way to list parameter names has been devised (and pending upstream)

So we can now preserve the structure of the yamls!

That said, dynamic_reconfigure-like behavior would be good to include.

@Ryanf55
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Ryanf55 commented Apr 4, 2023

If you need help with dynamic reconfigure, let me know. For the aerial drones, there are a few places we could make use of dynamic reconfiguration for the constrains in the model.

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