local_planner/src/nodes/local_planner.cpp
// set parameters changed by dynamic rconfigure
set parameters changed by dynamic rconfigure
set parameters changed by dynamic rconfigure
void LocalPlanner::dynamicReconfigureSetParams(
    avoidance::LocalPlannerNodeConfig &config, uint32_t level) {
  histogram_box_size_.xmin_ = config.min_box_x_;
  histogram_box_size_.xmax_ = config.max_box_x_;
  histogram_box_size_.ymin_ = config.min_box_y_;
  histogram_box_size_.ymax_ = config.max_box_y_;
  histogram_box_size_.zmin_ = config.min_box_z_;
  histogram_box_size_.zmax_ = config.max_box_z_;
  min_dist_to_ground_ = config.min_dist_to_ground_;
  goal_cost_param_ = config.goal_cost_param_;
  smooth_cost_param_ = config.smooth_cost_param_;
  min_speed_ = config.min_speed_;
  max_speed_ = config.max_speed_;
  max_accel_z_ = config.max_accel_z_;
  keep_distance_ = config.keep_distance_;
  reproj_age_ = config.reproj_age_;
  relevance_margin_e_degree_ = config.relevance_margin_e_degree_;
  relevance_margin_z_degree_ = config.relevance_margin_z_degree_;
  velocity_sigmoid_slope_ = config.velocity_sigmoid_slope_;
  no_progress_slope_ = config.no_progress_slope_;
  min_cloud_size_ = config.min_cloud_size_;
  min_realsense_dist_ = config.min_realsense_dist_;
  avoid_radius_ = config.avoid_radius_;
  min_dist_backoff_ = config.min_dist_backoff_;
  pointcloud_timeout_hover_ = config.pointcloud_timeout_hover_;
  pointcloud_timeout_land_ = config.pointcloud_timeout_land_;
  childs_per_node_ = config.childs_per_node_;
  n_expanded_nodes_ = config.n_expanded_nodes_;
  tree_node_distance_ = config.tree_node_distance_;
  if (goal_z_param_ != config.goal_z_param) {
    goal_z_param_ = config.goal_z_param;
    setGoal();
  }
  use_vel_setpoints_ = config.use_vel_setpoints_;
  stop_in_front_ = config.stop_in_front_;
  use_avoid_sphere_ = config.use_avoid_sphere_;
  use_ground_detection_ = config.use_ground_detection_;
  use_back_off_ = config.use_back_off_;
  use_VFH_star_ = config.use_VFH_star_;
  adapt_cost_params_ = config.adapt_cost_params_;
  send_obstacles_fcu_ = config.send_obstacles_fcu_;
  star_planner_.dynamicReconfigureSetStarParams(config, level);
  ground_detector_.dynamicReconfigureSetGroundParams(config, level);
  ROS_DEBUG("\033[0;35m[OA] Dynamic reconfigure call \033[0m");
}
void LocalPlanner :: dynamicReconfigureSetParams ( avoidance :: LocalPlannerNodeConfig & config , uint32_t level ) { histogram_box_size_ . xmin_ = config . min_box_x_ ; histogram_box_size_ . xmax_ = config . max_box_x_ ; histogram_box_size_ . ymin_ = config . min_box_y_ ; histogram_box_size_ . ymax_ = config . max_box_y_ ; histogram_box_size_ . zmin_ = config . min_box_z_ ; histogram_box_size_ . zmax_ = config . max_box_z_ ; min_dist_to_ground_ = config . min_dist_to_ground_ ; goal_cost_param_ = config . goal_cost_param_ ; smooth_cost_param_ = config . smooth_cost_param_ ; min_speed_ = config . min_speed_ ; max_speed_ = config . max_speed_ ; max_accel_z_ = config . max_accel_z_ ; keep_distance_ = config . keep_distance_ ; reproj_age_ = config . reproj_age_ ; relevance_margin_e_degree_ = config . relevance_margin_e_degree_ ; relevance_margin_z_degree_ = config . relevance_margin_z_degree_ ; velocity_sigmoid_slope_ = config . velocity_sigmoid_slope_ ; no_progress_slope_ = config . no_progress_slope_ ; min_cloud_size_ = config . min_cloud_size_ ; min_realsense_dist_ = config . min_realsense_dist_ ; avoid_radius_ = config . avoid_radius_ ; min_dist_backoff_ = config . min_dist_backoff_ ; pointcloud_timeout_hover_ = config . pointcloud_timeout_hover_ ; pointcloud_timeout_land_ = config . pointcloud_timeout_land_ ; childs_per_node_ = config . childs_per_node_ ; n_expanded_nodes_ = config . n_expanded_nodes_ ; tree_node_distance_ = config . tree_node_distance_ ; if ( goal_z_param_ != config . goal_z_param ) { goal_z_param_ = config . goal_z_param ; setGoal ( ) ; } use_vel_setpoints_ = config . use_vel_setpoints_ ; stop_in_front_ = config . stop_in_front_ ; use_avoid_sphere_ = config . use_avoid_sphere_ ; use_ground_detection_ = config . use_ground_detection_ ; use_back_off_ = config . use_back_off_ ; use_VFH_star_ = config . use_VFH_star_ ; adapt_cost_params_ = config . adapt_cost_params_ ; send_obstacles_fcu_ = config . send_obstacles_fcu_ ; star_planner_ . dynamicReconfigureSetStarParams ( config , level ) ; ground_detector_ . dynamicReconfigureSetGroundParams ( config , level ) ; ROS_DEBUG ( " \033 \033 " ) ; }
set parameters changed by dynamic rconfigure
set parameters changed by dynamic rconfigure