From 027b936b167aa23cccd0edacc98a4c57d9b04bfd Mon Sep 17 00:00:00 2001
From: Jon Binney <jon.binney@gmail.com>
Date: Tue, 10 Sep 2024 20:18:49 +0000
Subject: [PATCH] Declare speckle filter params writeable

---
 include/laser_filters/speckle_filter.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/include/laser_filters/speckle_filter.h b/include/laser_filters/speckle_filter.h
index b253bf3..861f8be 100644
--- a/include/laser_filters/speckle_filter.h
+++ b/include/laser_filters/speckle_filter.h
@@ -174,6 +174,18 @@ class LaserScanSpeckleFilter : public filters::FilterBase<sensor_msgs::msg::Lase
 
   ///////////////////////////////////////////////////////////////
   bool configure(){
+
+    #ifdef RCLCPP_SUPPORTS_POST_SET_PARAMS_CALLBACK
+    // Declare parameters as writeable. Otherwise, the first time we call FilterBase::getParam() for each one,
+    // it will get declared as write only.
+    rcl_interfaces::msg::ParameterDescriptor desc;
+    desc.read_only = true;
+    params_interface_->declare_parameter("filter_type", rclcpp::ParameterType::PARAMETER_INTEGER, desc);
+    params_interface_->declare_parameter("max_range", rclcpp::ParameterType::PARAMETER_DOUBLE, desc);
+    params_interface_->declare_parameter("max_range_difference", rclcpp::ParameterType::PARAMETER_DOUBLE, desc);
+    params_interface_->declare_parameter("filter_window", rclcpp::ParameterType::PARAMETER_INTEGER, desc);
+    #endif
+
     // get params
     if (!filters::FilterBase<sensor_msgs::msg::LaserScan>::getParam(std::string("filter_type"), filter_type))
     {