fix(components): keep parameter values in sync with ros #111
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domire8
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eeberhard
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Jun 10, 2024
source/modulo_components/include/modulo_components/ComponentInterface.hpp
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source/modulo_components/test/cpp/test_component_interface_empty_parameters.cpp
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source/modulo_components/modulo_components/component_interface.py
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domire8
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Description
This PR solves the parent issue by adding a
pre_set_parameters_callbackto the component interfaces. Because the parametres in that feedback are mutable, we can basically run the whole validation in this callback, and just forward the result to theon_set_parameters_callback.It required some other changes that are rather hard to describe because of the somewhat complex call sequence in ROS but I'm happy to discuss any open points.
If you like it, I have to do the same in the modulo controllers.
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Estimated Time of Review: 15 minutes
Checklist before merging: