Fix filter chain configuration parameter loading #69
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Could you look through CI and address the failing tests? It looks like cpplint is failing, at least on humble. |
jonbinney
reviewed
Nov 28, 2023
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@jonbinney basically there is no longer "parameter redeclaration" and no default values. It creates new parameters with every new filter. |
meyerj
reviewed
Dec 1, 2023
| // Must be dynamically typed because later we undeclare it and redeclare | ||
| // it read-only, but statically typed params cannot be undeclared. | ||
| name_desc.dynamic_typing = true; | ||
| node_params->declare_parameter(name_desc.name, rclcpp::PARAMETER_STRING); | ||
| rcl_interfaces::msg::ParameterDescriptor type_desc; |
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type_desc and name_desc are declared and populated, but then unused besides the name. I suggest to use the declare_parameter() overloads that accept a rcl_interfaces::msg::ParameterDescriptor, same as before.
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Or directly pass the name only without the extra descriptor declarations, if the default descriptors will do.
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Trying to use filters_demo_launch.py which has the following (filters)[https://github.com/ANYbotics/grid_map/blob/ros2/grid_map_demos/config/filters_demo_filter_chain.yaml] it fails to load with a runtime error.
The PR allows loading of the configuration. It has also been tested with other configuration parameters successfully.