Adding ability to add parameters through yaml at runtime

rclcpp/include/rclcpp/copy_all_parameter_values.hpp

@@ -15,14 +15,18 @@
 #ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
 #define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
 
+#include <rcl_yaml_param_parser/parser.h>
+
 #include <string>
 #include <vector>
 
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/set_parameters_result.hpp"
 
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_map.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
@@ -77,6 +81,28 @@ copy_all_parameter_values(
   }
 }
 
+/// Load a list of parameters from a yaml parameter file.
+/**
+ * \param[in] yaml_name The name of the yaml file that needs to be loaded.
+ * \param[in] node_interfaces The list of variadic NodeInterfaces taken as a template to set parameters for
+ */
+template<typename NodeT>
+std::vector<rcl_interfaces::msg::SetParametersResult>
+load_parameters(
+  const std::string & yaml_filepath, NodeT node_interface)
+{
+  rclcpp::ParameterMap parameter_map =
+    rclcpp::parameter_map_from_yaml_file(yaml_filepath, node_interface->get_name());
+
+  auto iter = parameter_map.find(node_interface->get_name());
+  if (iter == parameter_map.end() || iter->second.size() == 0) {
+    throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
+  }
+  auto params_result = node_interface->set_parameters(iter->second);
+
+  return params_result;
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_

rclcpp/test/rclcpp/test_copy_all_parameter_values.cpp

@@ -86,3 +86,19 @@ TEST_F(TestNode, TestParamCopyingExceptions)
   node2->declare_parameter("Foo1", rclcpp::ParameterValue(0.123));
   EXPECT_NO_THROW(rclcpp::copy_all_parameter_values(node1, node2, override));
 }
+
+TEST_F(TestNode, TestFileImport)
+{
+  const uint64_t expected_param_count = 4;
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_vector = rclcpp::load_parameters(parameters_filepath, load_node);
+  ASSERT_EQ(load_vector.size(), expected_param_count);
+}