Add ignore override argument to declare parameter (#767)

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

rclcpp/include/rclcpp/node.hpp

@@ -369,6 +369,8 @@ public:
    * are ignored, and should be specified using the name argument to this
    * function and the default value's type instead.
    *
+   * If `ignore_override` is `true`, the parameter override will be ignored.
+   *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called.
    * If that callback prevents the initial value for the parameter from being
@@ -382,6 +384,8 @@ public:
    *   did not override it.
    * \param[in] parameter_descriptor An optional, custom description for
    *   the parameter.
+   * \param[in] ignore_override When `true`, the parameter override is ignored.
+   *    Default to `false`.
    * \return A const reference to the value of the parameter.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
@@ -396,7 +400,8 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false);
 
   /// Declare and initialize a parameter with a type.
   /**
@@ -425,7 +430,8 @@ public:
     const std::string & name,
     const ParameterT & default_value,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -440,11 +446,12 @@ public:
    * expanding "namespace.key".
    * This allows you to declare several parameters at once without a namespace.
    *
-   * The map may either contain default values for parameters, or a std::pair
-   * where the first element is a default value and the second is a
-   * parameter descriptor.
-   * This function only takes the default value, but there is another overload
-   * which takes the std::pair with the default value and descriptor.
+   * The map contains default values for parameters.
+   * There is another overload which takes the std::pair with the default value
+   * and descriptor.
+   *
+   * If `ignore_overrides` is `true`, all the overrides of the parameters declared
+   * by the function call will be ignored.
    *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called, once for each parameter.
@@ -453,6 +460,8 @@ public:
    *
    * \param[in] namespace_ The namespace in which to declare the parameters.
    * \param[in] parameters The parameters to set in the given namespace.
+   * \param[in] ignore_overrides When `true`, the parameters overrides are ignored.
+   *    Default to `false`.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
    * \throws rclcpp::exceptions::InvalidParametersException if a parameter
@@ -464,7 +473,8 @@ public:
   std::vector<ParameterT>
   declare_parameters(
     const std::string & namespace_,
-    const std::map<std::string, ParameterT> & parameters);
+    const std::map<std::string, ParameterT> & parameters,
+    bool ignore_overrides = false);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -480,7 +490,8 @@ public:
     const std::map<
       std::string,
       std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-    > & parameters);
+    > & parameters,
+    bool ignore_overrides = false);
 
   /// Undeclare a previously declared parameter.
   /**

rclcpp/include/rclcpp/node_impl.hpp

@@ -250,12 +250,14 @@ auto
 Node::declare_parameter(
   const std::string & name,
   const ParameterT & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
   return this->declare_parameter(
     name,
     rclcpp::ParameterValue(default_value),
-    parameter_descriptor
+    parameter_descriptor,
+    ignore_override
   ).get<ParameterT>();
 }
 
@@ -263,14 +265,19 @@ template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(
   const std::string & namespace_,
-  const std::map<std::string, ParameterT> & parameters)
+  const std::map<std::string, ParameterT> & parameters,
+  bool ignore_overrides)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
-      return this->declare_parameter(normalized_namespace + element.first, element.second);
+    [this, &normalized_namespace, ignore_overrides](auto element) {
+      return this->declare_parameter(
+        normalized_namespace + element.first,
+        element.second,
+        rcl_interfaces::msg::ParameterDescriptor(),
+        ignore_overrides);
     }
   );
   return result;
@@ -283,18 +290,20 @@ Node::declare_parameters(
   const std::map<
     std::string,
     std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-  > & parameters)
+  > & parameters,
+  bool ignore_overrides)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
+    [this, &normalized_namespace, ignore_overrides](auto element) {
       return static_cast<ParameterT>(
         this->declare_parameter(
           normalized_namespace + element.first,
           element.second.first,
-          element.second.second)
+          element.second.second,
+          ignore_overrides)
       );
     }
   );

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -80,7 +80,8 @@ public:
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+    bool ignore_override) override;
 
   RCLCPP_PUBLIC
   void

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -53,7 +53,8 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor()) = 0;
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false) = 0;
 
   /// Undeclare a parameter.
   /**

rclcpp/src/rclcpp/node.cpp

@@ -236,9 +236,14 @@ const rclcpp::ParameterValue &
 Node::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
-  return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
+  return this->node_parameters_->declare_parameter(
+    name,
+    default_value,
+    parameter_descriptor,
+    ignore_override);
 }
 
 void

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -170,7 +170,8 @@ NodeParameters::NodeParameters(
         this->declare_parameter(
           pair.first,
           pair.second,
-          rcl_interfaces::msg::ParameterDescriptor());
+          rcl_interfaces::msg::ParameterDescriptor(),
+          true);
       }
     }
   }
@@ -333,7 +334,7 @@ __declare_parameter_common(
   const std::map<std::string, rclcpp::ParameterValue> & overrides,
   OnParametersSetCallbackType on_set_parameters_callback,
   rcl_interfaces::msg::ParameterEvent * parameter_event_out,
-  bool use_overrides = true)
+  bool ignore_override = false)
 {
   using rclcpp::node_interfaces::ParameterInfo;
   std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
@@ -342,7 +343,7 @@ __declare_parameter_common(
   // Use the value from the overrides if available, otherwise use the default.
   const rclcpp::ParameterValue * initial_value = &default_value;
   auto overrides_it = overrides.find(name);
-  if (use_overrides && overrides_it != overrides.end()) {
+  if (!ignore_override && overrides_it != overrides.end()) {
     initial_value = &overrides_it->second;
   }
 
@@ -369,7 +370,8 @@ const rclcpp::ParameterValue &
 NodeParameters::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
@@ -392,7 +394,8 @@ NodeParameters::declare_parameter(
     parameters_,
     parameter_overrides_,
     on_parameters_set_callback_,
-    &parameter_event);
+    &parameter_event,
+    ignore_override);
 
   // If it failed to be set, then throw an exception.
   if (!result.successful) {
@@ -524,7 +527,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       parameter_overrides_,
       nullptr,  // callback is explicitly null, so that it is called only once, when setting below.
       &parameter_event_msg,
-      false);
+      true);
     if (!result.successful) {
       // Declare failed, return knowing that nothing was changed because the
       // staged changes were not applied.

rclcpp/test/test_node.cpp

@@ -362,14 +362,15 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
   }
 }
 
-TEST_F(TestNode, declare_parameter_with_initial_values) {
-  // test cases with initial values
+TEST_F(TestNode, declare_parameter_with_overrides) {
+  // test cases with overrides
   rclcpp::NodeOptions no;
   no.parameter_overrides({
     {"parameter_no_default", 42},
     {"parameter_no_default_set", 42},
     {"parameter_no_default_set_cvref", 42},
     {"parameter_and_default", 42},
+    {"parameter_and_default_ignore_override", 42},
     {"parameter_custom", 42},
     {"parameter_template", 42},
     {"parameter_already_declared", 42},
@@ -378,13 +379,13 @@ TEST_F(TestNode, declare_parameter_with_initial_values) {
   });
   auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
   {
-    // no default, with initial
+    // no default, with override
     rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);
   }
   {
-    // no default, with initial, and set after
+    // no default, with override, and set after
     rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default_set");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);
@@ -393,7 +394,7 @@ TEST_F(TestNode, declare_parameter_with_initial_values) {
     EXPECT_EQ(node->get_parameter("parameter_no_default_set").get_value<int>(), 44);
   }
   {
-    // no default, with initial
+    // no default, with override
     const rclcpp::ParameterValue & value =
       node->declare_parameter("parameter_no_default_set_cvref");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
@@ -403,12 +404,23 @@ TEST_F(TestNode, declare_parameter_with_initial_values) {
     EXPECT_EQ(value.get<int>(), 44);
   }
   {
-    // int default, with initial
+    // int default, with override
     rclcpp::ParameterValue default_value(43);
     rclcpp::ParameterValue value = node->declare_parameter("parameter_and_default", default_value);
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get<int>(), 42);  // and not 43 which is the default value
   }
+  {
+    // int default, with override and ignoring it
+    rclcpp::ParameterValue default_value(43);
+    rclcpp::ParameterValue value = node->declare_parameter(
+      "parameter_and_default_ignore_override",
+      default_value,
+      rcl_interfaces::msg::ParameterDescriptor(),
+      true);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
+    EXPECT_EQ(value.get<int>(), 43);  // and not 42, the parameter override is ignored.
+  }
   {
     // int default, with initial, custom parameter descriptor
     rclcpp::ParameterValue default_value(43);