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Adding ability to add parameters through yaml at runtime #2406

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Adding ability to add parameters through yaml at runtime #2406

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5a565a9
Initial Start
CursedRock17 Jan 16, 2024
9fb115e
Add test suite
CursedRock17 Jan 17, 2024
6fa6bca
Removing useless header
CursedRock17 Jan 17, 2024
37c14cb
free function
CursedRock17 Feb 3, 2024
93869d7
Renaming files
CursedRock17 Feb 6, 2024
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8 changes: 8 additions & 0 deletions rclcpp/include/rclcpp/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -586,6 +586,14 @@ class Node : public std::enable_shared_from_this<Node>
void
undeclare_parameter(const std::string & name);

/// 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.
*/
RCLCPP_PUBLIC
std::vector<rcl_interfaces::msg::SetParametersResult>
load_parameters(const std::string & yaml_filepath, const std::string & node_name_);
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aside the on-going discussion on how to implement, do we need to have 2nd argument node_name_? what about load_parameters takes yaml file and internally calls get_fully_qualified_name(). if load_parameters belong to the Node class, i think it should load the parameters from yaml file in the context of the Node?


/// Return true if a given parameter is declared.
/**
* \param[in] name The name of the parameter to check for being declared.
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5 changes: 5 additions & 0 deletions rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
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Expand Up @@ -136,6 +136,11 @@ class NodeParameters : public NodeParametersInterface
void
undeclare_parameter(const std::string & name) override;

RCLCPP_PUBLIC
std::vector<rcl_interfaces::msg::SetParametersResult>
load_parameters(
const std::string & yaml_filepath, const std::string & node_name_) override;

RCLCPP_PUBLIC
bool
has_parameter(const std::string & name) const override;
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10 changes: 10 additions & 0 deletions rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
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Expand Up @@ -115,6 +115,16 @@ class NodeParametersInterface
void
undeclare_parameter(const std::string & name) = 0;

/// Load a list parameters from a yaml parameter file.
/**
* \sa rclcpp::Node::load_parameters
*/
RCLCPP_PUBLIC
virtual
std::vector<rcl_interfaces::msg::SetParametersResult>
load_parameters(
const std::string & yaml_filepath, const std::string & node_name_) = 0;

/// Return true if the parameter has been declared, otherwise false.
/**
* \sa rclcpp::Node::has_parameter
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6 changes: 6 additions & 0 deletions rclcpp/src/rclcpp/node.cpp
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Expand Up @@ -373,6 +373,12 @@ Node::undeclare_parameter(const std::string & name)
this->node_parameters_->undeclare_parameter(name);
}

std::vector<rcl_interfaces::msg::SetParametersResult>
Node::load_parameters(const std::string & yaml_filepath, const std::string & node_name_)
{
return this->node_parameters_->load_parameters(yaml_filepath, node_name_);
}

bool
Node::has_parameter(const std::string & name) const
{
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16 changes: 16 additions & 0 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Expand Up @@ -657,6 +657,22 @@ NodeParameters::undeclare_parameter(const std::string & name)
parameters_.erase(parameter_info);
}

std::vector<rcl_interfaces::msg::SetParametersResult>
NodeParameters::load_parameters(
const std::string & yaml_filepath, const std::string & node_name_)
{
rclcpp::ParameterMap parameter_map =
rclcpp::parameter_map_from_yaml_file(yaml_filepath, node_name_.c_str());

auto iter = parameter_map.find(node_name_);
if (iter == parameter_map.end() || iter->second.size() == 0) {
throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
}
auto params_result = set_parameters(iter->second);

return params_result;
}

bool
NodeParameters::has_parameter(const std::string & name) const
{
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14 changes: 14 additions & 0 deletions rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
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Expand Up @@ -125,6 +125,20 @@ TEST_F(TestNodeParameters, list_parameters)
list_result5.names.end());
}

TEST_F(TestNodeParameters, load_parameters) {
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 = node_parameters->load_parameters(parameters_filepath, "/namespace/load_node");
ASSERT_EQ(load_vector.size(), expected_param_count);
}

TEST_F(TestNodeParameters, parameter_overrides)
{
rclcpp::NodeOptions node_options;
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