Replace the deprecated function

stereolabs · Feb 15, 2022 · c9fba52 · c9fba52
1 parent 6cd5aff
commit c9fba52
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/zed_components/src/zed_camera/include/zed_camera_component.hpp b/zed_components/src/zed_camera/include/zed_camera_component.hpp
@@ -334,6 +334,8 @@ class ZedCamera : public rclcpp::Node
     // <---- Parameter variables
 
     // ----> Dynamic params
+    OnSetParametersCallbackHandle::SharedPtr mParamChangeCallbackHandle;
+
     double mPubFrameRate = 15;
     double mImgDownsampleFactor = 1.0;
     int mCamBrightness = 4;

diff --git a/zed_components/src/zed_camera/src/zed_camera_component.cpp b/zed_components/src/zed_camera/src/zed_camera_component.cpp
@@ -260,8 +260,8 @@ void ZedCamera::initParameters()
         getOdParams();
 
     // Dynamic parameters callback
-    set_on_parameters_set_callback(
-        std::bind(&ZedCamera::callback_paramChange, this, _1));
+    //set_on_parameters_set_callback(std::bind(&ZedCamera::callback_paramChange, this, _1)); // deprecated
+    mParamChangeCallbackHandle = add_on_set_parameters_callback(std::bind(&ZedCamera::callback_paramChange, this, _1));
 }
 
 void ZedCamera::getDebugParams()
@@ -1252,6 +1252,8 @@ void ZedCamera::getOdParams()
 rcl_interfaces::msg::SetParametersResult
 ZedCamera::callback_paramChange(std::vector<rclcpp::Parameter> parameters)
 {
+    RCLCPP_INFO(get_logger(), "Parameter change callback");
+
     rcl_interfaces::msg::SetParametersResult result;
     result.successful = false;