Use the new declare_or_get_parameter API for nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -61,21 +61,7 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
   logger_ = node->get_logger();
   clock_ = node->get_clock();
 
-  // Declare this node's parameters
-  if (!node->has_parameter("bt_loop_duration")) {
-    node->declare_parameter("bt_loop_duration", 10);
-  }
-  if (!node->has_parameter("default_server_timeout")) {
-    node->declare_parameter("default_server_timeout", 20);
-  }
-  if (!node->has_parameter("always_reload_bt_xml")) {
-    node->declare_parameter("always_reload_bt_xml", false);
-  }
-  if (!node->has_parameter("wait_for_service_timeout")) {
-    node->declare_parameter("wait_for_service_timeout", 1000);
-  }
-
-  std::vector<std::string> error_code_name_prefixes = {
+  std::vector<std::string> default_error_code_name_prefixes = {
     "assisted_teleop",
     "backup",
     "compute_path",
@@ -95,32 +81,26 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
       " Please review migration guide and update your configuration.");
   }
 
-  if (!node->has_parameter("error_code_name_prefixes")) {
-    const rclcpp::ParameterValue value = node->declare_parameter(
-      "error_code_name_prefixes",
-      rclcpp::PARAMETER_STRING_ARRAY);
-    if (value.get_type() == rclcpp::PARAMETER_NOT_SET) {
-      std::string error_code_name_prefixes_str;
-      for (const auto & error_code_name_prefix : error_code_name_prefixes) {
-        error_code_name_prefixes_str += " " + error_code_name_prefix;
-      }
-      RCLCPP_WARN_STREAM(
-        logger_, "error_code_name_prefixes parameters were not set. Using default values of:"
-          << error_code_name_prefixes_str + "\n"
-          << "Make sure these match your BT and there are not other sources of error codes you"
-          "reported to your application");
-      rclcpp::Parameter error_code_name_prefixes_param("error_code_name_prefixes",
-        error_code_name_prefixes);
-      node->set_parameter(error_code_name_prefixes_param);
-    } else {
-      error_code_name_prefixes = value.get<std::vector<std::string>>();
-      std::string error_code_name_prefixes_str;
-      for (const auto & error_code_name_prefix : error_code_name_prefixes) {
-        error_code_name_prefixes_str += " " + error_code_name_prefix;
-      }
-      RCLCPP_INFO_STREAM(logger_, "Error_code parameters were set to:"
-        << error_code_name_prefixes_str);
-    }
+  // Declare and get error code name prefixes parameter
+  error_code_name_prefixes_ = node->declare_or_get_parameter(
+    "error_code_name_prefixes",
+    default_error_code_name_prefixes);
+
+  // Provide informative logging about error code prefixes
+  std::string error_code_name_prefixes_str;
+  for (const auto & error_code_name_prefix : error_code_name_prefixes_) {
+    error_code_name_prefixes_str += " " + error_code_name_prefix;
+  }
+
+  if (error_code_name_prefixes_ == default_error_code_name_prefixes) {
+    RCLCPP_WARN_STREAM(
+      logger_, "error_code_name_prefixes parameters were not set. Using default values of:"
+        << error_code_name_prefixes_str + "\n"
+        << "Make sure these match your BT and there are not other sources of error codes you"
+        << "reported to your application");
+  } else {
+    RCLCPP_INFO_STREAM(logger_, "Error_code parameters were set to:"
+      << error_code_name_prefixes_str);
   }
 }
 
@@ -170,16 +150,17 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
     nullptr, std::chrono::milliseconds(500), false);
 
   // Get parameters for BT timeouts
-  int bt_loop_duration;
-  node->get_parameter("bt_loop_duration", bt_loop_duration);
-  bt_loop_duration_ = std::chrono::milliseconds(bt_loop_duration);
-  int default_server_timeout;
-  node->get_parameter("default_server_timeout", default_server_timeout);
-  default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
-  int wait_for_service_timeout;
-  node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
-  wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
-  node->get_parameter("always_reload_bt_xml", always_reload_bt_);
+  bt_loop_duration_ = std::chrono::milliseconds(
+    node->declare_or_get_parameter("bt_loop_duration", 10));
+
+  default_server_timeout_ = std::chrono::milliseconds(
+    node->declare_or_get_parameter("default_server_timeout", 20));
+
+  wait_for_service_timeout_ = std::chrono::milliseconds(
+    node->declare_or_get_parameter("wait_for_service_timeout", 1000));
+
+  always_reload_bt_ = node->declare_or_get_parameter(
+    "always_reload_bt_xml", false);
 
   // Get error code id names to grab off of the blackboard
   error_code_name_prefixes_ = node->get_parameter("error_code_name_prefixes").as_string_array();

nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp

@@ -44,10 +44,7 @@ void GoalReachedCondition::initialize()
 {
   node_ = config().blackboard->get<nav2::LifecycleNode::SharedPtr>("node");
 
-  nav2::declare_parameter_if_not_declared(
-    node_, "goal_reached_tol",
-    rclcpp::ParameterValue(0.25));
-  node_->get_parameter_or<double>("goal_reached_tol", goal_reached_tol_, 0.25);
+  goal_reached_tol_ = node_->declare_or_get_parameter("goal_reached_tol", 0.25);
   tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
 
   node_->get_parameter("transform_tolerance", transform_tolerance_);