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Automatic parameter declaration - enable existence of undeclared parameters from overrides #504

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merged 2 commits into from
Aug 28, 2021
Merged

Automatic parameter declaration - enable existence of undeclared parameters from overrides #504

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9e659ef
Add automatic parameter declaration
livanov93 Aug 27, 2021
7e18441
Pre-commit changes.
livanov93 Aug 27, 2021
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20 changes: 20 additions & 0 deletions controller_interface/include/controller_interface/controller_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,26 @@ class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleN
CONTROLLER_INTERFACE_PUBLIC
std::shared_ptr<rclcpp::Node> get_node();

/// Declare and initialize a parameter with a type.
/**
*
* Wrapper function for templated node's declare_parameter() which checks if
* parameter is already declared.
* For use in all components that inherit from ControllerInterface
*/
template <typename ParameterT>
auto auto_declare(const std::string & name, const ParameterT & default_value)
{
if (!node_->has_parameter(name))
{
return node_->declare_parameter<ParameterT>(name, default_value);
}
else
{
return node_->get_parameter(name).get_value<ParameterT>();
}
}

/**
* The methods below are a substitute to the LifecycleNode methods with the same name.
* The Life cycle is shown in ROS2 design document:
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10 changes: 7 additions & 3 deletions controller_interface/src/controller_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,9 @@ namespace controller_interface
return_type ControllerInterface::init(const std::string & controller_name)
{
node_ = std::make_shared<rclcpp::Node>(
controller_name, rclcpp::NodeOptions().allow_undeclared_parameters(true));
controller_name, rclcpp::NodeOptions()
.allow_undeclared_parameters(true)
.automatically_declare_parameters_from_overrides(true));
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I have a follow-up issue with this parameter

lifecycle_state_ = rclcpp_lifecycle::State(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state_names::UNCONFIGURED);
return return_type::OK;
Expand All @@ -36,8 +38,10 @@ return_type ControllerInterface::init(const std::string & controller_name)
return_type ControllerInterface::init(
const std::string & controller_name, rclcpp::NodeOptions & node_options)
{
node_ =
std::make_shared<rclcpp::Node>(controller_name, node_options.allow_undeclared_parameters(true));
node_ = std::make_shared<rclcpp::Node>(
controller_name,
node_options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(
true));
lifecycle_state_ = rclcpp_lifecycle::State(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state_names::UNCONFIGURED);
return return_type::OK;
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