Activate dynamic parameters callback in Avtivate stage

Signed-off-by: mini-1235 <[email protected]>

Author: mini-1235

nav2_amcl/src/amcl_node.cpp

@@ -1055,7 +1055,9 @@ AmclNode::updateParametersCallback(
   for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-
+    if (param_name.find('.') != std::string::npos) {
+      continue;
+    }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (param_name == "alpha1") {
         alpha1_ = parameter.as_double();

nav2_graceful_controller/include/nav2_graceful_controller/parameter_handler.hpp

@@ -79,6 +79,11 @@ class ParameterHandler
 
   Parameters * getParams() {return &params_;}
 
+  /**
+  * @brief Registers callbacks for dynamic parameter handling.
+  */
+  void activateDynamicParametersCallback();
+
 protected:
   nav2::LifecycleNode::WeakPtr node_;
 

nav2_graceful_controller/src/graceful_controller.cpp

@@ -97,6 +97,7 @@ void GracefulController::activate()
   local_plan_pub_->on_activate();
   motion_target_pub_->on_activate();
   slowdown_pub_->on_activate();
+  param_handler_->activateDynamicParametersCallback();
 }
 
 void GracefulController::deactivate()

nav2_graceful_controller/src/parameter_handler.cpp

@@ -114,7 +114,11 @@ ParameterHandler::ParameterHandler(
       "setting allow backward to false.");
     params_.allow_backward = false;
   }
+}
 
+void ParameterHandler::activateDynamicParametersCallback()
+{
+  auto node = node_.lock();
   post_set_params_handler_ = node->add_post_set_parameters_callback(
     std::bind(
       &ParameterHandler::updateParametersCallback,
@@ -186,7 +190,9 @@ ParameterHandler::updateParametersCallback(
   for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-
+    if (param_name.find(plugin_name_ + ".") != 0) {
+      continue;
+    }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (param_name == plugin_name_ + ".transform_tolerance") {
         params_.transform_tolerance = parameter.as_double();

nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp

@@ -89,6 +89,11 @@ class ParameterHandler
 
   Parameters * getParams() {return &params_;}
 
+  /**
+  * @brief Registers callbacks for dynamic parameter handling.
+  */
+  void activateDynamicParametersCallback();
+
 protected:
   nav2::LifecycleNode::WeakPtr node_;
 

nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp

@@ -197,7 +197,11 @@ ParameterHandler::ParameterHandler(
       "it should be >0. Disabling cost regulated linear velocity scaling.");
     params_.use_cost_regulated_linear_velocity_scaling = false;
   }
+}
 
+void ParameterHandler::activateDynamicParametersCallback()
+{
+  auto node = node_.lock();
   post_set_params_handler_ = node->add_post_set_parameters_callback(
     std::bind(
       &ParameterHandler::updateParametersCallback,
@@ -268,7 +272,9 @@ ParameterHandler::updateParametersCallback(
   for (const auto & parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-
+    if (param_name.find(plugin_name_ + ".") != 0) {
+      continue;
+    }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (param_name == plugin_name_ + ".inflation_cost_scaling_factor") {
         params_.inflation_cost_scaling_factor = parameter.as_double();

nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp

@@ -105,6 +105,7 @@ void RegulatedPurePursuitController::activate()
   carrot_pub_->on_activate();
   curvature_carrot_pub_->on_activate();
   is_rotating_to_heading_pub_->on_activate();
+  param_handler_->activateDynamicParametersCallback();
 }
 
 void RegulatedPurePursuitController::deactivate()