Open roncapat opened 1 year ago
I think it is possible to change the parameters at runtime using this->set_parameter
. Similar to https://github.com/ros-controls/control_toolbox/blob/759d95422893e03fdc88bfe0430370b13902b6f7/test/control_filters/test_low_pass_filter.cpp#L27
I support the idea of a base implementation without ROS, and then being wrapped in the filters-class with the ROS node interfaces. @roncapat Even if your idea is a few months old, I'd welcome a PR.
I wanted to use
LowPassFilter
, but it seems to me that there is no way to pass parameters via API (likePID
constructor orsetGains()
call).Wouldn't be better to make
LowPassFilter
support parameter passing via API and a correspondingLowPassFilterROS
querying parameters from configuration instead? Or just modifying LowPassFilter to support both scenarios...I would contribute a PR following your feedbacks of course.