Dynamic reconfigure for AMCL #2932
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@padhupradheep, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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In terms of the actual function, it looks good except where noted!
However, AMCL has alot of objects that use these parameters that will need to be reinitialized / reset / new values given to it. Simply setting the variable in the callback doesn't make it used in the actual node, most, if not all, of these parameters are passed to other objects for use in the node which aren't going to be affected by the current PR. You can see some examples of that in the Smac Planner dynamic reconfiguration callback & should probably look at the AMCL code closer about where each parameter is used so that you can update the appropriate objects / re-instantiate them.
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Toggling to get CI to turn over |
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Thanks for the feedback @doisyg |
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@padhupradheep, your PR has failed to build. Please check CI outputs and resolve issues. |
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Amazing! |
* not finished * update * satisfying linters * add mutex * fix mistake * dealing each parameters * segregating variables and instantiating the objects correspondingly * remove unwanted mutex * reconfigure for map topic * review update * careful updation of min and max particles * resetting and reinitilaizing the laser scanner and message filters * fixing the mutex
* not finished * update * satisfying linters * add mutex * fix mistake * dealing each parameters * segregating variables and instantiating the objects correspondingly * remove unwanted mutex * reconfigure for map topic * review update * careful updation of min and max particles * resetting and reinitilaizing the laser scanner and message filters * fixing the mutex
Basic Info
I'm really not sure, if I'm doing justice to the Mutex.. @SteveMacenski
I gave it a test and seems to work fine though... I will take a look once again, before I make this PR to be a "ready for review"