From 847c1a7bde23076369b6e4107297af2fd7a62190 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?=
 <mehmeteminbasoglu@hotmail.com>
Date: Tue, 16 Apr 2024 17:46:25 +0300
Subject: [PATCH] refactor: rename filter parameter name

---
 README.md                                     | 22 +++++++++----------
 nebula_ros/launch/velodyne_launch_all_hw.xml  |  4 ++--
 .../velodyne/velodyne_decoder_ros_wrapper.cpp |  4 ++--
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/README.md b/README.md
index 3c0302b49..234a9990f 100644
--- a/README.md
+++ b/README.md
@@ -214,16 +214,16 @@ Parameters shared by all supported models:
 
 #### Driver parameters
 
-| Parameter             | Type   | Default  | Accepted values  | Description                                                                                                                        |
-|-----------------------|--------|----------|------------------|------------------------------------------------------------------------------------------------------------------------------------|
-| frame_id              | string | velodyne |                  | ROS frame ID                                                                                                                       |
-| calibration_file      | string |          |                  | LiDAR calibration file                                                                                                             |
-| min_range             | double | 0.3      | meters, >= 0.3   | Minimum point range published                                                                                                      |
-| max_range             | double | 300.0    | meters, <= 300.0 | Maximum point range published                                                                                                      |
-| cloud_min_angle       | uint16 | 0        | degrees [0, 360] | FoV start angle                                                                                                                    |
-| cloud_max_angle       | uint16 | 359      | degrees [0, 360] | FoV end angle                                                                                                                      |
-| ring_section_filter   | bool   | false    | true, false      | Toggles filtering out specific ring sectors.                                                                                       |
-| excluded_ring_sectors | string |          |                  | Identifies and prevents specific ring sectors from being included in the point cloud based on ring ID, start angle, and end angle. |
+| Parameter                  | Type   | Default  | Accepted values  | Description                                                                                                                        |
+|----------------------------|--------|----------|------------------|------------------------------------------------------------------------------------------------------------------------------------|
+| frame_id                   | string | velodyne |                  | ROS frame ID                                                                                                                       |
+| calibration_file           | string |          |                  | LiDAR calibration file                                                                                                             |
+| min_range                  | double | 0.3      | meters, >= 0.3   | Minimum point range published                                                                                                      |
+| max_range                  | double | 300.0    | meters, <= 300.0 | Maximum point range published                                                                                                      |
+| cloud_min_angle            | uint16 | 0        | degrees [0, 360] | FoV start angle                                                                                                                    |
+| cloud_max_angle            | uint16 | 359      | degrees [0, 360] | FoV end angle                                                                                                                      |
+| enable_ring_section_filter | bool   | false    | true, false      | Toggles filtering out specific ring sectors.                                                                                       |
+| excluded_ring_sectors      | string |          |                  | Identifies and prevents specific ring sectors from being included in the point cloud based on ring ID, start angle, and end angle. |
 
 - `enable_ring_section_filter` toggles a ring-based filter to remove points located within predefined angle ranges.
 - Specify an excluded section using the format `[ring_id, start_angle, end_angle]`.
@@ -235,7 +235,7 @@ Parameters shared by all supported models:
 <node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
       name="velodyne_cloud" output="screen">
   ...
-  <param name="ring_section_filter" value="true"/>
+  <param name="enable_ring_section_filter" value="true"/>
   <param name="excluded_ring_sectors" type="str"
          value="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>
 </node>
diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index 6d0a9acc9..78218773b 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -19,7 +19,7 @@
 
     <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
 
-    <arg name="ring_section_filter" default="false"/>
+    <arg name="enable_ring_section_filter" default="false"/>
     <arg name="excluded_ring_sectors"
          default="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>
 
@@ -30,7 +30,7 @@
         <param name="frame_id" value="$(var frame_id)"/>
         <param name="scan_phase" value="$(var scan_phase)"/>
         <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="ring_section_filter" value="$(var ring_section_filter)"/>
+        <param name="enable_ring_section_filter" value="$(var enable_ring_section_filter)"/>
         <param name="excluded_ring_sectors" type="str" value="$(var excluded_ring_sectors)"/>
     </node>
 
diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
index 538cb52c8..8423c0e83 100644
--- a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
+++ b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -252,9 +252,9 @@ Status VelodyneDriverRosWrapper::GetParameters(
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("ring_section_filter", false, descriptor);
+    this->declare_parameter<bool>("enable_ring_section_filter", false, descriptor);
     sensor_configuration.ring_section_filter =
-      this->get_parameter("ring_section_filter").as_bool();
+      this->get_parameter("enable_ring_section_filter").as_bool();
     if (sensor_configuration.ring_section_filter) {
       RCLCPP_DEBUG_STREAM(this->get_logger(), "Ring section filter is active.");
     } else {