declare parameters fix for server & plugin lifecycle reset and startup

nav2_recoveries/plugins/back_up.cpp

@@ -17,6 +17,7 @@
 #include <memory>
 
 #include "back_up.hpp"
+#include "nav2_util/node_utils.hpp"
 
 using namespace std::chrono_literals;
 
@@ -26,7 +27,6 @@ namespace nav2_recoveries
 BackUp::BackUp()
 : Recovery<BackUpAction>()
 {
-  simulate_ahead_time_ = 2.0;
 }
 
 BackUp::~BackUp()
@@ -35,8 +35,9 @@ BackUp::~BackUp()
 
 void BackUp::onConfigure()
 {
-  node_->declare_parameter("simulate_ahead_time", simulate_ahead_time_);
-  simulate_ahead_time_ = node_->get_parameter("simulate_ahead_time").as_double();
+  nav2_util::declare_parameter_if_not_declared(node_,
+    "simulate_ahead_time", rclcpp::ParameterValue(2.0));
+  node_->get_parameter("simulate_ahead_time", simulate_ahead_time_);
 }
 
 Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)

nav2_recoveries/src/recovery_server.cpp

@@ -25,6 +25,21 @@ RecoveryServer::RecoveryServer()
 : nav2_util::LifecycleNode("nav2_recoveries", "", true),
   plugin_loader_("nav2_core", "nav2_core::Recovery")
 {
+  declare_parameter("costmap_topic",
+    rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));
+  declare_parameter("footprint_topic",
+    rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));
+
+  std::vector<std::string> plugin_names{std::string("Spin"),
+    std::string("BackUp"), std::string("Wait")};
+  std::vector<std::string> plugin_types{std::string("nav2_recoveries/Spin"),
+    std::string("nav2_recoveries/BackUp"),
+    std::string("nav2_recoveries/Wait")};
+
+  declare_parameter("plugin_names",
+    rclcpp::ParameterValue(plugin_names));
+  declare_parameter("plugin_types",
+    rclcpp::ParameterValue(plugin_types));
 }
 
 
@@ -44,24 +59,8 @@ RecoveryServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   tf_->setCreateTimerInterface(timer_interface);
   transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_);
 
-  declare_parameter("costmap_topic",
-    rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));
-  declare_parameter("footprint_topic",
-    rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));
-
-  std::vector<std::string> plugin_names{std::string("Spin"),
-    std::string("BackUp"), std::string("Wait")};
-  std::vector<std::string> plugin_types{std::string("nav2_recoveries/Spin"),
-    std::string("nav2_recoveries/BackUp"),
-    std::string("nav2_recoveries/Wait")};
-
-  declare_parameter("plugin_names",
-    rclcpp::ParameterValue(plugin_names));
-  declare_parameter("plugin_types",
-    rclcpp::ParameterValue(plugin_types));
-
-  plugin_names_ = get_parameter("plugin_names").as_string_array();
-  plugin_types_ = get_parameter("plugin_types").as_string_array();
+  get_parameter("plugin_names", plugin_names_);
+  get_parameter("plugin_types", plugin_types_);
 
   loadRecoveryPlugins();