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Merged
SteveMacenski merged 3 commits into from
Jul 23, 2025
Merged

Use declare_or_get_param API #5372

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7d4f229
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elsayedelsheikh Jul 23, 2025
423f99b
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elsayedelsheikh Jul 20, 2025
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elsayedelsheikh Jul 22, 2025
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31 changes: 8 additions & 23 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,19 +38,6 @@ BtNavigator::BtNavigator(rclcpp::NodeOptions options)
class_loader_("nav2_core", "nav2_core::NavigatorBase")
{
RCLCPP_INFO(get_logger(), "Creating");

declare_parameter_if_not_declared(
this, "plugin_lib_names", rclcpp::ParameterValue(std::vector<std::string>{}));
declare_parameter_if_not_declared(
this, "transform_tolerance", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
this, "global_frame", rclcpp::ParameterValue(std::string("map")));
declare_parameter_if_not_declared(
this, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
declare_parameter_if_not_declared(
this, "odom_topic", rclcpp::ParameterValue(std::string("odom")));
declare_parameter_if_not_declared(
this, "filter_duration", rclcpp::ParameterValue(0.3));
}

BtNavigator::~BtNavigator()
Expand All @@ -69,17 +56,18 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & state)
tf_->setUsingDedicatedThread(true);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, false);

global_frame_ = get_parameter("global_frame").as_string();
robot_frame_ = get_parameter("robot_base_frame").as_string();
transform_tolerance_ = get_parameter("transform_tolerance").as_double();
odom_topic_ = get_parameter("odom_topic").as_string();
filter_duration_ = get_parameter("filter_duration").as_double();
global_frame_ = this->declare_or_get_parameter("global_frame", std::string("map"));
robot_frame_ = this->declare_or_get_parameter("robot_base_frame", std::string("base_link"));
transform_tolerance_ = this->declare_or_get_parameter("transform_tolerance", 0.1);
odom_topic_ = this->declare_or_get_parameter("odom_topic", std::string("odom"));
filter_duration_ = this->declare_or_get_parameter("filter_duration", 0.3);

// Libraries to pull plugins (BT Nodes) from
std::vector<std::string> plugin_lib_names;
plugin_lib_names = nav2_util::split(nav2::details::BT_BUILTIN_PLUGINS, ';');

auto user_defined_plugins = get_parameter("plugin_lib_names").as_string_array();
auto user_defined_plugins =
this->declare_or_get_parameter("plugin_lib_names", std::vector<std::string>{});
// append user_defined_plugins to plugin_lib_names
plugin_lib_names.insert(
plugin_lib_names.end(), user_defined_plugins.begin(),
Expand All @@ -106,10 +94,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & state)
};

std::vector<std::string> navigator_ids;
declare_parameter_if_not_declared(
node, "navigators",
rclcpp::ParameterValue(default_navigator_ids));
get_parameter("navigators", navigator_ids);
navigator_ids = this->declare_or_get_parameter("navigators", default_navigator_ids);
if (navigator_ids == default_navigator_ids) {
for (size_t i = 0; i < default_navigator_ids.size(); ++i) {
declare_parameter_if_not_declared(
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55 changes: 18 additions & 37 deletions nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,39 +30,25 @@ NavigateThroughPosesNavigator::configure(
start_time_ = rclcpp::Time(0);
auto node = parent_node.lock();

if (!node->has_parameter("goals_blackboard_id")) {
node->declare_parameter("goals_blackboard_id", std::string("goals"));
}

goals_blackboard_id_ = node->get_parameter("goals_blackboard_id").as_string();

if (!node->has_parameter("path_blackboard_id")) {
node->declare_parameter("path_blackboard_id", std::string("path"));
}

path_blackboard_id_ = node->get_parameter("path_blackboard_id").as_string();

if (!node->has_parameter("waypoint_statuses_blackboard_id")) {
node->declare_parameter("waypoint_statuses_blackboard_id", std::string("waypoint_statuses"));
}

goals_blackboard_id_ =
node->declare_or_get_parameter("goals_blackboard_id", std::string("goals"));
path_blackboard_id_ =
node->declare_or_get_parameter("path_blackboard_id", std::string("path"));
waypoint_statuses_blackboard_id_ =
node->get_parameter("waypoint_statuses_blackboard_id").as_string();
node->declare_or_get_parameter("waypoint_statuses_blackboard_id",
std::string("waypoint_statuses"));

// Odometry smoother object for getting current speed
odom_smoother_ = odom_smoother;

if (!node->has_parameter(getName() + ".enable_groot_monitoring")) {
node->declare_parameter(getName() + ".enable_groot_monitoring", false);
}

if (!node->has_parameter(getName() + ".groot_server_port")) {
node->declare_parameter(getName() + ".groot_server_port", 1669);
}
bool enable_groot_monitoring =
node->declare_or_get_parameter(getName() + ".enable_groot_monitoring", false);
int groot_server_port =
node->declare_or_get_parameter(getName() + ".groot_server_port", 1669);

bt_action_server_->setGrootMonitoring(
node->get_parameter(getName() + ".enable_groot_monitoring").as_bool(),
node->get_parameter(getName() + ".groot_server_port").as_int());
enable_groot_monitoring,
groot_server_port);

return true;
}
Expand All @@ -71,19 +57,14 @@ std::string
NavigateThroughPosesNavigator::getDefaultBTFilepath(
nav2::LifecycleNode::WeakPtr parent_node)
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");

if (!node->has_parameter("default_nav_through_poses_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
}

node->get_parameter("default_nav_through_poses_bt_xml", default_bt_xml_filename);
auto default_bt_xml_filename = node->declare_or_get_parameter(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");

return default_bt_xml_filename;
}
Expand Down
47 changes: 16 additions & 31 deletions nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,17 +29,10 @@ NavigateToPoseNavigator::configure(
start_time_ = rclcpp::Time(0);
auto node = parent_node.lock();

if (!node->has_parameter("goal_blackboard_id")) {
node->declare_parameter("goal_blackboard_id", std::string("goal"));
}

goal_blackboard_id_ = node->get_parameter("goal_blackboard_id").as_string();

if (!node->has_parameter("path_blackboard_id")) {
node->declare_parameter("path_blackboard_id", std::string("path"));
}

path_blackboard_id_ = node->get_parameter("path_blackboard_id").as_string();
goal_blackboard_id_ =
node->declare_or_get_parameter("goal_blackboard_id", std::string("goal"));
path_blackboard_id_ =
node->declare_or_get_parameter("path_blackboard_id", std::string("path"));

// Odometry smoother object for getting current speed
odom_smoother_ = odom_smoother;
Expand All @@ -50,17 +43,14 @@ NavigateToPoseNavigator::configure(
"goal_pose",
std::bind(&NavigateToPoseNavigator::onGoalPoseReceived, this, std::placeholders::_1));

if (!node->has_parameter(getName() + ".enable_groot_monitoring")) {
node->declare_parameter(getName() + ".enable_groot_monitoring", false);
}

if (!node->has_parameter(getName() + ".groot_server_port")) {
node->declare_parameter(getName() + ".groot_server_port", 1667);
}
bool enable_groot_monitoring =
node->declare_or_get_parameter(getName() + ".enable_groot_monitoring", false);
int groot_server_port =
node->declare_or_get_parameter(getName() + ".groot_server_port", 1669);

bt_action_server_->setGrootMonitoring(
node->get_parameter(getName() + ".enable_groot_monitoring").as_bool(),
node->get_parameter(getName() + ".groot_server_port").as_int());
enable_groot_monitoring,
groot_server_port);

return true;
}
Expand All @@ -69,19 +59,14 @@ std::string
NavigateToPoseNavigator::getDefaultBTFilepath(
nav2::LifecycleNode::WeakPtr parent_node)
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");

if (!node->has_parameter("default_nav_to_pose_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
}

node->get_parameter("default_nav_to_pose_bt_xml", default_bt_xml_filename);
auto default_bt_xml_filename = node->declare_or_get_parameter(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");

return default_bt_xml_filename;
}
Expand Down
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