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Expose depth_publisher param (backport #250) #251

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Merged
jonbinney merged 2 commits into from
Oct 29, 2025
Merged

Expose depth_publisher param (backport #250) #251

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4488e74
expose depth_publisher
Oct 26, 2025
02e9e92
rename to scan_filtered_history_depth
Oct 29, 2025
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10 changes: 7 additions & 3 deletions src/scan_to_scan_filter_chain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,13 +60,15 @@ ScanToScanFilterChain::ScanToScanFilterChain(
#endif
this->declare_parameter("tf_message_filter_target_frame", "", read_only_desc);
this->declare_parameter("tf_message_filter_tolerance", 0.03, read_only_desc);
this->declare_parameter("scan_filtered_history_depth", 1000);

// Get parameters
#ifdef RCLCPP_SUPPORTS_MATCHED_CALLBACKS
this->get_parameter("lazy_subscription", lazy_subscription_);
#endif
this->get_parameter("tf_message_filter_target_frame", tf_message_filter_target_frame_);
this->get_parameter("tf_message_filter_tolerance", tf_filter_tolerance_);
this->get_parameter("scan_filtered_history_depth", scan_filtered_history_depth_);

if (!tf_message_filter_target_frame_.empty()) {
tf_.reset(new tf2_ros::TransformListener(buffer_));
Expand Down Expand Up @@ -103,13 +105,15 @@ ScanToScanFilterChain::ScanToScanFilterChain(
}
};
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
"scan_filtered", 1000, pub_options);
"scan_filtered", scan_filtered_history_depth_, pub_options);
} else {
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan_filtered", 1000);
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
"scan_filtered", scan_filtered_history_depth_);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
}
#else
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan_filtered", 1000);
output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
"scan_filtered", scan_filtered_history_depth_);
scan_sub_.subscribe(this, "scan", rclcpp::SensorDataQoS());
#endif
}
Expand Down
1 change: 1 addition & 0 deletions src/scan_to_scan_filter_chain.hpp
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Expand Up @@ -65,6 +65,7 @@ class ScanToScanFilterChain : public rclcpp::Node
#endif
std::string tf_message_filter_target_frame_;
double tf_filter_tolerance_;
int scan_filtered_history_depth_;

// Diagnostic updater
diagnostic_updater::Heartbeat heartbeat_diagnostics_;
Expand Down