Hi,

I would like to change the params/topic names of ekf node dynamically during runtime via code. How should I go about doing this? I have attempted creating a Lifecycle Node and running both ekf and the lifecycle node together. I edited the source code by setting a variable to activate/deactivate depending on onactivate() or ondeactivate() from the lifecycle node and it is working. But wondering what is the "correct" way to do this? Thanks