search

stonier / ueye_cam

A ROS nodelet and node that wraps the driver API for UEye cameras by IDS Imaging Development Systems GMBH.
Other
1 stars 2 forks source link

Use parameter descriptors #13

Open stonier opened 3 years ago

stonier commented 3 years ago

Nice-to-have. These provide type-safe checks, descriptions and constraints for parameters.

Need to go from something like:

this->declare_parameter("red_gain",                  rclcpp::ParameterValue(defaults.red_gain));

to

  this->declare_parameter("red_gain", defaults.red_gain, rcl_interfaces::msg::ParameterDescriptor()
    .set__name("red_gain")
    .set__type(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE)
    .set__description("red gain for the image stream, only valid if auto_gain is false")
    .set__floating_point_range({rcl_interfaces::msg::FloatingPointRange()
      .set__from_value(0.0)
      .set__to_value(100.0)
      .set__step(1.0)}
    )
  );
stonier commented 3 years ago

These don't seem to reflect their hints to rqt_dynamic_reconfigure (as of foxy). They do however, get picked up and relayed via ros2 param describe ....