use parameter listener

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

Author: mitukou1109

control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp

@@ -16,6 +16,7 @@
 #define AUTOWARE__SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
 
 #include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "shift_decider_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -58,7 +59,8 @@ class ShiftDecider : public rclcpp::Node
   autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr current_gear_ptr_;
   uint8_t prev_shift_command = autoware_vehicle_msgs::msg::GearCommand::PARK;
 
-  bool park_on_goal_;
+  std::shared_ptr<::shift_decider::ParamListener> param_listener_;
+  ::shift_decider::Params param_;
 };
 }  // namespace autoware::shift_decider
 

control/autoware_shift_decider/src/autoware_shift_decider.cpp

@@ -31,7 +31,9 @@ ShiftDecider::ShiftDecider(const rclcpp::NodeOptions & node_options)
   rclcpp::QoS durable_qos(queue_size);
   durable_qos.transient_local();
 
-  park_on_goal_ = declare_parameter<bool>("park_on_goal");
+  param_listener_ =
+    std::make_shared<::shift_decider::ParamListener>(this->get_node_parameters_interface());
+  param_ = param_listener_->get_params();
 
   pub_shift_cmd_ =
     create_publisher<autoware_vehicle_msgs::msg::GearCommand>("output/gear_cmd", durable_qos);
@@ -71,7 +73,7 @@ void ShiftDecider::updateCurrentShiftCmd()
     if (
       (autoware_state_->state == AutowareState::ARRIVED_GOAL ||
        autoware_state_->state == AutowareState::WAITING_FOR_ROUTE) &&
-      park_on_goal_) {
+      param_.park_on_goal) {
       shift_cmd_.command = GearCommand::PARK;
     } else {
       shift_cmd_.command = current_gear_ptr_->report;