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Ignore parameters overrides in set parameter methods when allowing undeclared parameters (#756)

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* Ignore parameters overrides in set parameter methods when allowing undeclared parameters

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

* Address reviewer comment

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
This commit is contained in:
ivanpauno 2019-06-11 16:04:38 -03:00 • committed by William Woodall
parent 411e748632
commit 91198ef917
3 changed files with 24 additions and 10 deletions
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1
rclcpp/include/rclcpp/node.hpp
View file

@ -516,6 +516,7 @@ public:
* rclcpp::NodeOptions::allow_undeclared_parameters set to true. * rclcpp::NodeOptions::allow_undeclared_parameters set to true.
* If undeclared parameters are allowed, then the parameter is implicitly * If undeclared parameters are allowed, then the parameter is implicitly
* declared with the default parameter meta data before being set. * declared with the default parameter meta data before being set.
* Parameter overrides are ignored by set_parameter.
* *
* This method will result in any callback registered with * This method will result in any callback registered with
* set_on_parameters_set_callback to be called. * set_on_parameters_set_callback to be called.

16
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -330,19 +330,20 @@ __declare_parameter_common(
const rclcpp::ParameterValue & default_value, const rclcpp::ParameterValue & default_value,
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor, const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out, std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
const std::map<std::string, rclcpp::ParameterValue> & initial_values, const std::map<std::string, rclcpp::ParameterValue> & overrides,
OnParametersSetCallbackType on_set_parameters_callback, OnParametersSetCallbackType on_set_parameters_callback,
rcl_interfaces::msg::ParameterEvent * parameter_event_out) rcl_interfaces::msg::ParameterEvent * parameter_event_out,
bool use_overrides = true)
{ {
using rclcpp::node_interfaces::ParameterInfo; using rclcpp::node_interfaces::ParameterInfo;
std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}}; std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
parameter_infos.at(name).descriptor = parameter_descriptor; parameter_infos.at(name).descriptor = parameter_descriptor;
// Use the value from the initial_values if available, otherwise use the default. // Use the value from the overrides if available, otherwise use the default.
const rclcpp::ParameterValue * initial_value = &default_value; const rclcpp::ParameterValue * initial_value = &default_value;
auto initial_value_it = initial_values.find(name); auto overrides_it = overrides.find(name);
if (initial_value_it != initial_values.end()) { if (use_overrides && overrides_it != overrides.end()) {
initial_value = &initial_value_it->second; initial_value = &overrides_it->second;
} }
// Check with the user's callback to see if the initial value can be set. // Check with the user's callback to see if the initial value can be set.
@ -522,7 +523,8 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
staged_parameter_changes, staged_parameter_changes,
parameter_overrides_, parameter_overrides_,
nullptr, // callback is explicitly null, so that it is called only once, when setting below. nullptr, // callback is explicitly null, so that it is called only once, when setting below.
&parameter_event_msg); &parameter_event_msg,
false);
if (!result.successful) { if (!result.successful) {
// Declare failed, return knowing that nothing was changed because the // Declare failed, return knowing that nothing was changed because the
// staged changes were not applied. // staged changes were not applied.

17
rclcpp/test/test_node.cpp
View file

@ -1066,9 +1066,20 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
} }
TEST_F(TestNode, set_parameter_undeclared_parameters_allowed) { TEST_F(TestNode, set_parameter_undeclared_parameters_allowed) {
auto node = std::make_shared<rclcpp::Node>( rclcpp::NodeOptions no;
"test_set_parameter_node"_unq, no.parameter_overrides({
rclcpp::NodeOptions().allow_undeclared_parameters(true)); {"parameter_with_override", 30},
});
no.allow_undeclared_parameters(true);
auto node = std::make_shared<rclcpp::Node>("test_set_parameter_node"_unq, no);
{
// overrides are ignored when not declaring a parameter
auto name = "parameter_with_override";
EXPECT_FALSE(node->has_parameter(name));
EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
EXPECT_TRUE(node->has_parameter(name));
EXPECT_EQ(node->get_parameter(name).get_value<int>(), 43);
}
{ {
// normal use (declare first) still works with this true // normal use (declare first) still works with this true
auto name = "parameter"_unq; auto name = "parameter"_unq;