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Commit 0e1e7653 authored by bpwilcox's avatar bpwilcox
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declare if not declared parameters for costmap plugins

parent 41da7b80
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nav2_costmap_2d/plugins/obstacle_layer.cpp
+ 31
− 31
View file @ 0e1e7653
......@@ -75,11 +75,11 @@ void ObstacleLayer::onInitialize()
std::string topics_string;
// TODO(mjeronimo): these four are candidates for dynamic update
node_->declare_parameter(name_ + "." + "enabled", rclcpp::ParameterValue(true));
node_->declare_parameter(name_ + "." + "footprint_clearing_enabled",
declareParameter("enabled", rclcpp::ParameterValue(true));
declareParameter("footprint_clearing_enabled",
rclcpp::ParameterValue(true));
node_->declare_parameter(name_ + "." + "max_obstacle_height", rclcpp::ParameterValue(2.0));
node_->declare_parameter(name_ + "." + "combination_method", rclcpp::ParameterValue(1));
declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
declareParameter("combination_method", rclcpp::ParameterValue(1));
node_->get_parameter(name_ + "." + "enabled", enabled_);
node_->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
......@@ -114,31 +114,31 @@ void ObstacleLayer::onInitialize()
std::string topic, sensor_frame, data_type;
bool inf_is_valid, clearing, marking;
node_->declare_parameter(source + "." + "topic", rclcpp::ParameterValue(source));
node_->declare_parameter(source + "." + "sensor_frame",
rclcpp::ParameterValue(std::string("")));
node_->declare_parameter(source + "." + "observation_persistence", rclcpp::ParameterValue(0.0));
node_->declare_parameter(source + "." + "expected_update_rate", rclcpp::ParameterValue(0.0));
node_->declare_parameter(source + "." + "data_type",
rclcpp::ParameterValue(std::string("LaserScan")));
node_->declare_parameter(source + "." + "min_obstacle_height", rclcpp::ParameterValue(0.0));
node_->declare_parameter(source + "." + "max_obstacle_height", rclcpp::ParameterValue(0.0));
node_->declare_parameter(source + "." + "inf_is_valid", rclcpp::ParameterValue(false));
node_->declare_parameter(source + "." + "marking", rclcpp::ParameterValue(true));
node_->declare_parameter(source + "." + "clearing", rclcpp::ParameterValue(false));
node_->declare_parameter(source + "." + "obstacle_range", rclcpp::ParameterValue(2.5));
node_->declare_parameter(source + "." + "raytrace_range", rclcpp::ParameterValue(3.0));
node_->get_parameter(source + "." + "topic", topic);
node_->get_parameter(source + "." + "sensor_frame", sensor_frame);
node_->get_parameter(source + "." + "observation_persistence", observation_keep_time);
node_->get_parameter(source + "." + "expected_update_rate", expected_update_rate);
node_->get_parameter(source + "." + "data_type", data_type);
node_->get_parameter(source + "." + "min_obstacle_height", min_obstacle_height);
node_->get_parameter(source + "." + "max_obstacle_height", max_obstacle_height);
node_->get_parameter(source + "." + "inf_is_valid", inf_is_valid);
node_->get_parameter(source + "." + "marking", marking);
node_->get_parameter(source + "." + "clearing", clearing);
declareParameter(source + "." + "topic", rclcpp::ParameterValue(source));
declareParameter(source + "." + "sensor_frame", rclcpp::ParameterValue(std::string("")));
declareParameter(source + "." + "observation_persistence", rclcpp::ParameterValue(0.0));
declareParameter(source + "." + "expected_update_rate", rclcpp::ParameterValue(0.0));
declareParameter(source + "." + "data_type", rclcpp::ParameterValue(std::string("LaserScan")));
declareParameter(source + "." + "min_obstacle_height", rclcpp::ParameterValue(0.0));
declareParameter(source + "." + "max_obstacle_height", rclcpp::ParameterValue(0.0));
declareParameter(source + "." + "inf_is_valid", rclcpp::ParameterValue(false));
declareParameter(source + "." + "marking", rclcpp::ParameterValue(true));
declareParameter(source + "." + "clearing", rclcpp::ParameterValue(false));
declareParameter(source + "." + "obstacle_range", rclcpp::ParameterValue(2.5));
declareParameter(source + "." + "raytrace_range", rclcpp::ParameterValue(3.0));
node_->get_parameter(name_ + "." + source + "." + "topic", topic);
node_->get_parameter(name_ + "." + source + "." + "sensor_frame", sensor_frame);
node_->get_parameter(name_ + "." + source + "." + "observation_persistence",
observation_keep_time);
node_->get_parameter(name_ + "." + source + "." + "expected_update_rate",
expected_update_rate);
node_->get_parameter(name_ + "." + source + "." + "data_type", data_type);
node_->get_parameter(name_ + "." + source + "." + "min_obstacle_height", min_obstacle_height);
node_->get_parameter(name_ + "." + source + "." + "max_obstacle_height", max_obstacle_height);
node_->get_parameter(name_ + "." + source + "." + "inf_is_valid", inf_is_valid);
node_->get_parameter(name_ + "." + source + "." + "marking", marking);
node_->get_parameter(name_ + "." + source + "." + "clearing", clearing);
if (!(data_type == "PointCloud2" || data_type == "LaserScan")) {
RCLCPP_FATAL(node_->get_logger(),
......@@ -149,11 +149,11 @@ void ObstacleLayer::onInitialize()
// get the obstacle range for the sensor
double obstacle_range;
node_->get_parameter(source + "." + "obstacle_range", obstacle_range);
node_->get_parameter(name_ + "." + source + "." + "obstacle_range", obstacle_range);
// get the raytrace range for the sensor
double raytrace_range;
node_->get_parameter(source + "." + "raytrace_range", raytrace_range);
node_->get_parameter(name_ + "." + source + "." + "raytrace_range", raytrace_range);
RCLCPP_DEBUG(node_->get_logger(),
"Creating an observation buffer for source %s, topic %s, frame %s",
......
nav2_costmap_2d/plugins/static_layer.cpp
+ 1
− 2
View file @ 0e1e7653
......@@ -121,8 +121,7 @@ StaticLayer::getParameters()
declareParameter("enabled", rclcpp::ParameterValue(true));
declareParameter("subscribe_to_updates", rclcpp::ParameterValue(false));
declareParameter("map_subscribe_transient_local",
rclcpp::ParameterValue(true));
declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
node_->get_parameter(name_ + "." + "enabled", enabled_);
node_->get_parameter(name_ + "." + "subscribe_to_updates", subscribe_to_updates_);
......
nav2_costmap_2d/plugins/voxel_layer.cpp
+ 10
− 11
View file @ 0e1e7653
......@@ -59,17 +59,16 @@ void VoxelLayer::onInitialize()
{
ObstacleLayer::onInitialize();
node_->declare_parameter(name_ + "." + "enabled", rclcpp::ParameterValue(true));
node_->declare_parameter(name_ + "." + "footprint_clearing_enabled",
rclcpp::ParameterValue(true));
node_->declare_parameter(name_ + "." + "max_obstacle_height", rclcpp::ParameterValue(2.0));
node_->declare_parameter(name_ + "." + "z_voxels", rclcpp::ParameterValue(10));
node_->declare_parameter(name_ + "." + "origin_z", rclcpp::ParameterValue(0.0));
node_->declare_parameter(name_ + "." + "z_resolution", rclcpp::ParameterValue(0.2));
node_->declare_parameter(name_ + "." + "unknown_threshold", rclcpp::ParameterValue(15));
node_->declare_parameter(name_ + "." + "mark_threshold", rclcpp::ParameterValue(0));
node_->declare_parameter(name_ + "." + "combination_method", rclcpp::ParameterValue(1));
node_->declare_parameter(name_ + "." + "publish_voxel_map", rclcpp::ParameterValue(false));
declareParameter("enabled", rclcpp::ParameterValue(true));
declareParameter("footprint_clearing_enabled", rclcpp::ParameterValue(true));
declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
declareParameter("z_voxels", rclcpp::ParameterValue(10));
declareParameter("origin_z", rclcpp::ParameterValue(0.0));
declareParameter("z_resolution", rclcpp::ParameterValue(0.2));
declareParameter("unknown_threshold", rclcpp::ParameterValue(15));
declareParameter("mark_threshold", rclcpp::ParameterValue(0));
declareParameter("combination_method", rclcpp::ParameterValue(1));
declareParameter("publish_voxel_map", rclcpp::ParameterValue(false));
node_->get_parameter(name_ + "." + "enabled", enabled_);
node_->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
......
nav2_costmap_2d/src/layer.cpp
+ 2
− 1
View file @ 0e1e7653
......@@ -31,6 +31,7 @@
#include <string>
#include <vector>
#include "nav2_util/node_utils.hpp"
namespace nav2_costmap_2d
{
......@@ -71,7 +72,7 @@ Layer::declareParameter(
const std::string & param_name, const rclcpp::ParameterValue & value)
{
local_params_.insert(param_name);
node_->declare_parameter(getFullName(param_name), value);
nav2_util::declare_parameter_if_not_declared(node_, getFullName(param_name), value);
}
bool
......
nav2_util/include/nav2_util/node_utils.hpp
+ 13
− 0
View file @ 0e1e7653
......@@ -80,6 +80,19 @@ std::string time_to_string(size_t len);
rclcpp::NodeOptions
get_node_options_default(bool allow_undeclared = true, bool declare_initial_params = true);
template<typename NodeT>
void declare_parameter_if_not_declared(
NodeT node,
const std::string & param_name,
const rclcpp::ParameterValue & default_value,
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
rcl_interfaces::msg::ParameterDescriptor())
{
if(!node->has_parameter(param_name)) {
node->declare_parameter(param_name, default_value, parameter_descriptor);
}
}
} // namespace nav2_util
#endif // NAV2_UTIL__NODE_UTILS_HPP_
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