From 812545baaa0246211ac4d8d716e2e69d63fe08ae Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 6 Nov 2020 15:46:28 +0100
Subject: [PATCH] Solved a bug in the handling of the dynamic reconfigure
parameters.
---
CMakeLists.txt | 2 +-
include/iri_ros_tools/module_action.h | 14 ++++++++------
package.xml | 1 +
src/iri_ros_tools/dyn_params.py | 6 +++---
4 files changed, 13 insertions(+), 10 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 72267f2..adca6f3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,7 +77,7 @@ catkin_python_setup()
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
- CATKIN_DEPENDS roscpp
+ CATKIN_DEPENDS roscpp rospy
)
###########
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index 4397ff5..e968d46 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -602,12 +602,11 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
boost::any value;
params=dyn_reconf_config::__getParamDescriptions__();
-
for(typename std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
{
+ (*param)->getValue(config,value);
if((*param)->name==(name+"_num_retries"))
{
- (*param)->getValue(config,value);
if(value.type()==typeid(int))
this->set_max_num_retries(boost::any_cast<int &>(value));
}
@@ -621,15 +620,13 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
enable_timeout=false;
}
}
- if((*param)->name==(name+"_timeout_s"))
+ else if((*param)->name==(name+"_timeout_s"))
{
- (*param)->getValue(config,value);
if(value.type()==typeid(double))
timeout=boost::any_cast<double &>(value);
}
- if((*param)->name==(name+"_feedback_watchdog_time_s"))
+ else if((*param)->name==(name+"_feedback_watchdog_time_s"))
{
- (*param)->getValue(config,value);
if(value.type()==typeid(double))
watchdog=boost::any_cast<double &>(value);
}
@@ -660,6 +657,8 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
this->disable_timeout();
if(enable_watchdog)
this->enable_watchdog(watchdog);
+ else
+ this->disable_watchdog();
}
@@ -740,7 +739,10 @@ bool CModuleAction<action_ros,dyn_reconf_config>::is_watchdog_active(void)
}
}
else
+ {
+ this->action_access.exit();
return false;
+ }
}
template<class action_ros,class dyn_reconf_config>
diff --git a/package.xml b/package.xml
index cf2f794..dfc607c 100644
--- a/package.xml
+++ b/package.xml
@@ -14,6 +14,7 @@
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
+ <depend>rospy</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
diff --git a/src/iri_ros_tools/dyn_params.py b/src/iri_ros_tools/dyn_params.py
index 93ce21b..bf54e48 100644
--- a/src/iri_ros_tools/dyn_params.py
+++ b/src/iri_ros_tools/dyn_params.py
@@ -14,9 +14,9 @@ def add_module_action_params(gen,name):
new_group.add(name+"_num_retries", int_t, 0,"Number of times an action will be called before reporting an error",1, 1, 10)
new_group.add(name+"_enable_timeout", bool_t, 0,"Enable or disable the timeout feature", True)
- new_group.add(name+"_timeout_s", double_t,0,"Maximum time in second to wait for the action to complete", 10.0, 1.0, 600.0)
- new_group.add(name+"_enable_iwatchdog", bool_t, 0,"Enable or disable the watchdog feature", True)
- new_group.add(name+"_feedback_watchdog_time_s",double_t,0,"Maximum time in second between two consecutive feedback topics", 2.0, 1.0, 100.0)
+ new_group.add(name+"_timeout_s", double_t,0,"Maximum time in second to wait for the action to complete", 10.0, 0.1, 600.0)
+ new_group.add(name+"_enable_watchdog", bool_t, 0,"Enable or disable the watchdog feature", True)
+ new_group.add(name+"_feedback_watchdog_time_s",double_t,0,"Maximum time in second between two consecutive feedback topics", 2.0, 0.1, 100.0)
new_group.add(name+"_enabled", bool_t, 0,"Enable or disable the actual action request", True)
return new_group
--
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