feat(controller_node): controller timeout is now dynamic param

Author: rokusottervanger

cfg/Pid.cfg

@@ -31,4 +31,6 @@ gen.add("coupling_ang_long",   bool_t,   0, "Enable coupling between angular and
 
 gen.add("controller_debug_enabled",   bool_t,   0, "Debug controller intermediate gains",  False)
 
+gen.add("controller_timeout",   double_t,   0, "Timeout on setpoint input signal",  0.2, 0, 10)
+
 exit(gen.generate(PACKAGE, "tracking_pid", "Pid"))

src/controller_node.cpp

@@ -147,6 +147,7 @@ void reconfigure_callback(const tracking_pid::PidConfig& config)
 {
   pid_controller.configure(config);
   controller_debug_enabled = config.controller_debug_enabled;
+  controller_timeout = config.controller_timeout;
 }
 
 int main(int argc, char** argv)
@@ -166,7 +167,6 @@ int main(int argc, char** argv)
   node_priv.param<bool>("enabled_on_boot", enabled_on_boot, true);
   controller_enabled = enabled_on_boot;
   waiting_for_setpoint = true;
-  node_priv.param<double>("controller_timeout", controller_timeout, 0.1);
 
   // instantiate publishers & subscribers
   control_effort_pub = node.advertise<geometry_msgs::Twist>("move_base/cmd_vel", 1);