#include <nav2_util/include/nav2_util/parameter_handler.hpp>

Public Member Functions
	ParameterHandler (const nav2::LifecycleNode::SharedPtr &node, const rclcpp::Logger &logger)
	Constructor for nav2_util::ParameterHandler.

virtual	~ParameterHandler ()=default
	Destructor for nav2_util::ParameterHandler.

std::mutex &	getMutex ()
	Get the internal mutex used for thread-safe parameter access. More...

ParamsT *	getParams ()
	Get a pointer to the internal parameter structure. More...

void	activate ()
	Registers callbacks for dynamic parameter handling.

void	deactivate ()
	Resets callbacks for dynamic parameter handling.

Protected Member Functions
virtual rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)=0
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

virtual void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)=0
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

Protected Attributes
nav2::LifecycleNode::WeakPtr	node_

std::mutex	mutex_

ParamsT	params_

rclcpp::Logger	logger_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

Detailed Description

template<typename ParamsT>
class nav2_util::ParameterHandler< ParamsT >

Handles parameters and dynamic parameters

Definition at line 35 of file parameter_handler.hpp.

Member Function Documentation

◆ getMutex()

template<typename ParamsT >

std::mutex& nav2_util::ParameterHandler< ParamsT >::getMutex ( )

inline

Get the internal mutex used for thread-safe parameter access.

Returns: Reference to the mutex.

Definition at line 55 of file parameter_handler.hpp.

◆ getParams()

template<typename ParamsT >

ParamsT* nav2_util::ParameterHandler< ParamsT >::getParams ( )

inline

Get a pointer to the internal parameter structure.

Returns: Pointer to the stored parameter structure.

Definition at line 61 of file parameter_handler.hpp.

◆ updateParametersCallback()

template<typename ParamsT >

virtual void nav2_util::ParameterHandler< ParamsT >::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protectedpure virtual

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Implemented in nav2_waypoint_follower::ParameterHandler, nav2_theta_star_planner::ParameterHandler, nav2_rotation_shim_controller::ParameterHandler, nav2_regulated_pure_pursuit_controller::ParameterHandler, nav2_planner::ParameterHandler, nav2_navfn_planner::ParameterHandler, nav2_graceful_controller::ParameterHandler, opennav_following::ParameterHandler, opennav_docking::ParameterHandler, and nav2_controller::ParameterHandler.

Referenced by nav2_util::ParameterHandler< ParamsT >::activate().

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◆ validateParameterUpdatesCallback()

template<typename ParamsT >

virtual rcl_interfaces::msg::SetParametersResult nav2_util::ParameterHandler< ParamsT >::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protectedpure virtual

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.