From 1df73d7631411edc83b939899ed77507082e84b0 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 17 May 2023 15:37:35 +0200
Subject: [PATCH] Solved a problem when having to modify the values of the
dynamic reconfigure data. The base class parameters are known.
---
include/iri_base_bt_client/iri_base_bt_client.h | 12 ++----------
1 file changed, 2 insertions(+), 10 deletions(-)
diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index 6c217eb..76e540e 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -640,7 +640,7 @@ void IriBaseBTClient<ConfigClass>::reconfigureCallback(ConfigClass &config, uint
double new_rate;
bool new_enable;
- ROS_DEBUG("IriBaseBTClient::reconfigureCallback");
+ ROS_INFO("IriBaseBTClient::reconfigureCallback");
// process the iri_base_bt_client parameters
this->lock();
@@ -653,15 +653,7 @@ void IriBaseBTClient<ConfigClass>::reconfigureCallback(ConfigClass &config, uint
else if((*param)->name=="bt_client_reset")
{
this->reset=boost::any_cast<bool &>(value);
- groups=ConfigClass::__getGroupDescriptions__();
- for(typename std::vector<typename ConfigClass::AbstractGroupDescriptionConstPtr>::iterator group=groups.begin();group!=groups.end();group++)
- {
- if((*group)->name=="bt_client_reset")
- {
- value=false;
- (*group)->updateParams(value,config);
- }
- }
+ config.bt_client_reset=false;
}
else if((*param)->name=="bt_client_rate")
{
--
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