feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop

system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp

@@ -17,6 +17,7 @@
 
 // Core
 #include <memory>
+#include <vector>
 
 // Autoware
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
@@ -55,6 +56,9 @@ class MrmComfortableStopOperator : public rclcpp::Node
     const tier4_system_msgs::srv::OperateMrm::Request::SharedPtr request,
     const tier4_system_msgs::srv::OperateMrm::Response::SharedPtr response);
 
+  rcl_interfaces::msg::SetParametersResult onParameter(
+    const std::vector<rclcpp::Parameter> & parameters);
+
   // Publisher
   rclcpp::Publisher<tier4_system_msgs::msg::MrmBehaviorStatus>::SharedPtr pub_status_;
   rclcpp::Publisher<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr pub_velocity_limit_;
@@ -72,6 +76,9 @@ class MrmComfortableStopOperator : public rclcpp::Node
 
   // States
   tier4_system_msgs::msg::MrmBehaviorStatus status_;
+
+  // Parameter callback
+  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
 };
 
 }  // namespace mrm_comfortable_stop_operator

system/mrm_comfortable_stop_operator/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>

system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp

@@ -14,6 +14,8 @@
 
 #include "mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp"
 
+#include <autoware/universe_utils/ros/update_param.hpp>
+
 namespace mrm_comfortable_stop_operator
 {
 
@@ -48,6 +50,10 @@
 
   // Initialize
   status_.state = tier4_system_msgs::msg::MrmBehaviorStatus::AVAILABLE;
+
+  // Parameter Callback
+  set_param_res_ = add_on_set_parameters_callback(
+    std::bind(&MrmComfortableStopOperator::onParameter, this, std::placeholders::_1));
 }
 
 void MrmComfortableStopOperator::operateComfortableStop(
@@ -65,6 +71,21 @@
   }
 }
 
+rcl_interfaces::msg::SetParametersResult MrmComfortableStopOperator::onParameter(
+  const std::vector<rclcpp::Parameter> & parameters)
+{
+  using autoware::universe_utils::updateParam;
+  updateParam<double>(parameters, "min_acceleration", params_.min_acceleration);
+  params_.min_acceleration = std::abs(params_.min_acceleration);
+  updateParam<double>(parameters, "max_jerk", params_.max_jerk);
+  updateParam<double>(parameters, "min_jerk", params_.min_jerk);
+
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  result.reason = "success";
+  return result;
+}
+
 void MrmComfortableStopOperator::publishStatus() const
 {
   auto status = status_;