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Get parameters on configure transition addressing #2985 #3000

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Merged
SteveMacenski merged 3 commits into from
Jun 9, 2022
Merged

Get parameters on configure transition addressing #2985 #3000

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5e82840
Get parameters on configure transition
MartiBolet Jun 6, 2022
92fbfb3
Remove past setting of parameters
MartiBolet Jun 6, 2022
6735949
Expose transition functions to public for test
MartiBolet Jun 8, 2022
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2 changes: 1 addition & 1 deletion nav2_map_server/include/nav2_map_server/map_saver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,6 @@ class MapSaver : public nav2_util::LifecycleNode
const std::string & map_topic,
const SaveParameters & save_parameters);

protected:
/**
* @brief Sets up map saving service
* @param state Lifecycle Node's state
Expand Down Expand Up @@ -88,6 +87,7 @@ class MapSaver : public nav2_util::LifecycleNode
*/
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;

protected:
/**
* @brief Map saving service callback
* @param request_header Service request header
Expand Down
1 change: 1 addition & 0 deletions nav2_map_server/src/map_saver/main_cli.cpp
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Expand Up @@ -164,6 +164,7 @@ int main(int argc, char ** argv)
int retcode;
try {
auto map_saver = std::make_shared<nav2_map_server::MapSaver>();
map_saver->on_configure(rclcpp_lifecycle::State());
if (map_saver->saveMapTopicToFile(map_topic, save_parameters)) {
retcode = 0;
} else {
Expand Down
17 changes: 11 additions & 6 deletions nav2_map_server/src/map_saver/map_saver.cpp
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Expand Up @@ -46,12 +46,11 @@ MapSaver::MapSaver(const rclcpp::NodeOptions & options)
{
RCLCPP_INFO(get_logger(), "Creating");

save_map_timeout_ = std::make_shared<rclcpp::Duration>(
rclcpp::Duration::from_seconds(declare_parameter("save_map_timeout", 2.0)));

free_thresh_default_ = declare_parameter("free_thresh_default", 0.25),
occupied_thresh_default_ = declare_parameter("occupied_thresh_default", 0.65);
map_subscribe_transient_local_ = declare_parameter("map_subscribe_transient_local", true);
// Declare the node parameters
declare_parameter("save_map_timeout", 2.0);
declare_parameter("free_thresh_default", 0.25);
declare_parameter("occupied_thresh_default", 0.65);
declare_parameter("map_subscribe_transient_local", true);
}

MapSaver::~MapSaver()
Expand All @@ -66,6 +65,12 @@ MapSaver::on_configure(const rclcpp_lifecycle::State & /*state*/)
// Make name prefix for services
const std::string service_prefix = get_name() + std::string("/");

save_map_timeout_ = std::make_shared<rclcpp::Duration>(
rclcpp::Duration::from_seconds(get_parameter("save_map_timeout").as_double()));
free_thresh_default_ = get_parameter("free_thresh_default").as_double();
occupied_thresh_default_ = get_parameter("occupied_thresh_default").as_double();
map_subscribe_transient_local_ = get_parameter("map_subscribe_transient_local").as_bool();

// Create a service that saves the occupancy grid from map topic to a file
save_map_service_ = create_service<nav2_msgs::srv::SaveMap>(
service_prefix + save_map_service_name_,
Expand Down