Parameter change on the fly

[reinbja]

Hi,
I`ve tried to change the transformation parameter on the fly but no change is visible in rviz

1. read the current parameter rosparam get /sick_scansegment_xd/add_tranform_xyz_rpy return =>0,0,0,0,0,0
2. set the parameter rosparam set /sick_scansegment_xd/add_tranform_xyz_rpy "0,0,1,0,0,0"
3. read the parameter again rosparam get /sick_scansegment_xd/add_tranform_xyz_rpy return =>0,0,1,0,0,0 but no change visible in rviz

If I change the parameter directly in the launch file it works perfectly.

[michael1309]

After internal discussion with the SICK management we will add this specific parameter change in one of the next releases.

[rostest]

An additional transform of the pointcloud can now be set during runtime using rosparam set /sick_scansegment_xd/add_tranform_xyz_rpy. Note that dynamic transform updates are deactivated by default due to performance reasons. Dynamic updates can be activated by parameter add_transform_check_dynamic_updates in the launchfile:

        <!-- Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform) -->
        <!-- Note: add_transform_xyz_rpy is specified by 6D pose x, y, z, roll, pitch, yaw in [m] resp. [rad] -->
        <!-- It transforms a 3D point in cloud coordinates to 3D point in user defined world coordinates: --> 
        <!-- add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud -->
        <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
        <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
        <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
        <param name="add_transform_check_dynamic_updates" type="bool" value="true" />

Please checkout the latest release 2.8.14 and rebuild. Thanks!