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Fix static parameter #148

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Merged
fmrico merged 2 commits into from
Jul 4, 2021
Merged

Fix static parameter #148

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ea92736
Solve statically parameter error
fmrico Jul 4, 2021
a4db80b
Fix default param
fmrico Jul 4, 2021
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3 changes: 2 additions & 1 deletion plansys2_executor/test/unit/executor_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1565,7 +1565,8 @@ TEST(problem_expert, action_timeout)
pkgpath + "/test_behavior_trees/test_action_timeout_bt.xml"});
executor_node->set_parameter({"action_timeouts.actions", std::vector<std::string>({"move"})});
// have to declare because the actions vector above was not available at node creation
executor_node->declare_parameter("action_timeouts.move.duration_overrun_percentage");
executor_node->declare_parameter<double>(
"action_timeouts.move.duration_overrun_percentage", 1.0);
executor_node->set_parameter({"action_timeouts.move.duration_overrun_percentage", 1.0});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
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2 changes: 1 addition & 1 deletion plansys2_planner/include/plansys2_planner/PlannerNode.hpp
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Expand Up @@ -91,7 +91,7 @@ std::string get_plugin_type_param(
NodeT node,
const std::string & plugin_name)
{
declare_parameter_if_not_declared(node, plugin_name + ".plugin");
declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::ParameterValue(""));
std::string plugin_type;
if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
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