Skip to content

Feat: angular_bounds_filter_in_place dynamic parameters and new enabled parameter #232

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: ros2
Choose a base branch
from
Open

Feat: angular_bounds_filter_in_place dynamic parameters and new enabled parameter #232

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
309cd90
feat: angular_bounds_filter_in_place dynamic parameters and new enabl…
bely2803 Aug 18, 2025
fdcd4d8
Merge pull request #1 from Oscar-Robotics/feat--angular_bounds_filter…
bely2803 Aug 19, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 33 additions & 3 deletions include/laser_filters/angular_bounds_filter_in_place.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,14 @@ namespace laser_filters
double lower_angle_;
double upper_angle_;
bool replace_with_nan_;
bool enabled_;

bool configure()
{
lower_angle_ = 0;
upper_angle_ = 0;

if (!getParam("lower_angle", lower_angle_) || !getParam("upper_angle", upper_angle_))
if (!getParam("lower_angle", lower_angle_, false) || !getParam("upper_angle", upper_angle_, false))
{
RCLCPP_ERROR(logging_interface_->get_logger(), "Both the lower_angle and upper_angle parameters must be set to use this filter.");
return false;
Expand All @@ -63,7 +64,9 @@ namespace laser_filters
//toggle to use NaN for filtering scans; defaults to false for backward compatibility.
//https://github.com/ros-perception/laser_filters/pull/202
replace_with_nan_ = false;
getParam("replace_with_nan", replace_with_nan_);
getParam("replace_with_nan", replace_with_nan_, false);

getParam("enabled", enabled_, false, true);

return true;
}
Expand All @@ -73,6 +76,10 @@ namespace laser_filters
bool update(const sensor_msgs::msg::LaserScan& input_scan, sensor_msgs::msg::LaserScan& filtered_scan){
filtered_scan = input_scan; //copy entire message

if (!enabled_) {
return true;
}

double current_angle = input_scan.angle_min;
unsigned int count = 0;
float replace_value = replace_with_nan_ ? std::numeric_limits<float>::quiet_NaN() : input_scan.range_max + 1.0;
Expand All @@ -93,6 +100,29 @@ namespace laser_filters
return true;

}
};

rcl_interfaces::msg::SetParametersResult reconfigureCB(std::vector<rclcpp::Parameter> parameters)
{
auto result = rcl_interfaces::msg::SetParametersResult();
result.successful = true;

for (auto parameter : parameters)
{
std::string full_name = parameter.get_name();
std::string param_name = full_name.substr(full_name.find_last_of('.') + 1);

if(param_name == "enabled" && parameter.get_type() == rclcpp::ParameterType::PARAMETER_BOOL)
enabled_ = parameter.as_bool();
else if(param_name == "lower_angle" && parameter.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE)
lower_angle_ = parameter.as_double();
else if(param_name == "upper_angle" && parameter.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE)
upper_angle_ = parameter.as_double();
else if(param_name == "replace_with_nan" && parameter.get_type() == rclcpp::ParameterType::PARAMETER_BOOL)
replace_with_nan_ = parameter.as_bool();
}

return result;
};
};
};
#endif