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Use the new declare_or_get_parameter API for nav2_behaviors. #5583

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Merged
SteveMacenski merged 1 commit into from
Oct 6, 2025
Merged

Use the new declare_or_get_parameter API for nav2_behaviors. #5583

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26 changes: 9 additions & 17 deletions nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -246,23 +246,15 @@ class DriveOnHeading : public TimedBehavior<ActionT>
throw std::runtime_error{"Failed to lock node"};
}

nav2::declare_parameter_if_not_declared(
node,
"simulate_ahead_time", rclcpp::ParameterValue(2.0));
node->get_parameter("simulate_ahead_time", simulate_ahead_time_);

nav2::declare_parameter_if_not_declared(
node, this->behavior_name_ + ".acceleration_limit",
rclcpp::ParameterValue(2.5));
nav2::declare_parameter_if_not_declared(
node, this->behavior_name_ + ".deceleration_limit",
rclcpp::ParameterValue(-2.5));
nav2::declare_parameter_if_not_declared(
node, this->behavior_name_ + ".minimum_speed",
rclcpp::ParameterValue(0.10));
node->get_parameter(this->behavior_name_ + ".acceleration_limit", acceleration_limit_);
node->get_parameter(this->behavior_name_ + ".deceleration_limit", deceleration_limit_);
node->get_parameter(this->behavior_name_ + ".minimum_speed", minimum_speed_);
simulate_ahead_time_ = node->declare_or_get_parameter(
"simulate_ahead_time", 2.0);
acceleration_limit_ = node->declare_or_get_parameter(
this->behavior_name_ + ".acceleration_limit", 2.5);
deceleration_limit_ = node->declare_or_get_parameter(
this->behavior_name_ + ".deceleration_limit", -2.5);
minimum_speed_ = node->declare_or_get_parameter(
this->behavior_name_ + ".minimum_speed", 0.10);

if (acceleration_limit_ <= 0.0 || deceleration_limit_ >= 0.0) {
RCLCPP_ERROR(this->logger_,
"DriveOnHeading: acceleration_limit and deceleration_limit must be "
Expand Down
21 changes: 4 additions & 17 deletions nav2_behaviors/plugins/assisted_teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,23 +33,10 @@ void AssistedTeleop::onConfigure()
}

// set up parameters
nav2::declare_parameter_if_not_declared(
node,
"projection_time", rclcpp::ParameterValue(1.0));

nav2::declare_parameter_if_not_declared(
node,
"simulation_time_step", rclcpp::ParameterValue(0.1));

nav2::declare_parameter_if_not_declared(
node,
"cmd_vel_teleop", rclcpp::ParameterValue(std::string("cmd_vel_teleop")));

node->get_parameter("projection_time", projection_time_);
node->get_parameter("simulation_time_step", simulation_time_step_);

std::string cmd_vel_teleop;
node->get_parameter("cmd_vel_teleop", cmd_vel_teleop);
projection_time_ = node->declare_or_get_parameter("projection_time", 1.0);
simulation_time_step_ = node->declare_or_get_parameter("simulation_time_step", 0.1);
std::string cmd_vel_teleop = node->declare_or_get_parameter(
"cmd_vel_teleop", std::string("cmd_vel_teleop"));

vel_sub_ = std::make_unique<nav2_util::TwistSubscriber>(
node,
Expand Down
23 changes: 4 additions & 19 deletions nav2_behaviors/plugins/spin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,25 +49,10 @@ void Spin::onConfigure()
throw std::runtime_error{"Failed to lock node"};
}

nav2::declare_parameter_if_not_declared(
node,
"simulate_ahead_time", rclcpp::ParameterValue(2.0));
node->get_parameter("simulate_ahead_time", simulate_ahead_time_);

nav2::declare_parameter_if_not_declared(
node,
"max_rotational_vel", rclcpp::ParameterValue(1.0));
node->get_parameter("max_rotational_vel", max_rotational_vel_);

nav2::declare_parameter_if_not_declared(
node,
"min_rotational_vel", rclcpp::ParameterValue(0.4));
node->get_parameter("min_rotational_vel", min_rotational_vel_);

nav2::declare_parameter_if_not_declared(
node,
"rotational_acc_lim", rclcpp::ParameterValue(3.2));
node->get_parameter("rotational_acc_lim", rotational_acc_lim_);
simulate_ahead_time_ = node->declare_or_get_parameter("simulate_ahead_time", 2.0);
max_rotational_vel_ = node->declare_or_get_parameter("max_rotational_vel", 1.0);
min_rotational_vel_ = node->declare_or_get_parameter("min_rotational_vel", 0.4);
rotational_acc_lim_ = node->declare_or_get_parameter("rotational_acc_lim", 3.2);
}

ResultStatus Spin::onRun(const std::shared_ptr<const SpinActionGoal> command)
Expand Down
47 changes: 12 additions & 35 deletions nav2_behaviors/src/behavior_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,26 +31,8 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options)
"nav2_behaviors::DriveOnHeading",
"nav2_behaviors::Wait"}
{
declare_parameter(
"local_costmap_topic",
rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));

declare_parameter(
"global_costmap_topic",
rclcpp::ParameterValue(std::string("global_costmap/costmap_raw")));

declare_parameter(
"local_footprint_topic",
rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));

declare_parameter(
"global_footprint_topic",
rclcpp::ParameterValue(std::string("global_costmap/published_footprint")));

declare_parameter("cycle_frequency", rclcpp::ParameterValue(10.0));
declare_parameter("behavior_plugins", default_ids_);

get_parameter("behavior_plugins", behavior_ids_);
behavior_ids_ = declare_or_get_parameter("behavior_plugins", default_ids_);
if (behavior_ids_ == default_ids_) {
for (size_t i = 0; i < default_ids_.size(); ++i) {
declare_parameter(default_ids_[i] + ".plugin", default_types_[i]);
Expand All @@ -63,12 +45,6 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options)
declare_parameter(
"global_frame",
rclcpp::ParameterValue(std::string("map")));
declare_parameter(
"robot_base_frame",
rclcpp::ParameterValue(std::string("base_link")));
declare_parameter(
"transform_tolerance",
rclcpp::ParameterValue(0.1));
}


Expand Down Expand Up @@ -140,16 +116,17 @@ void BehaviorServer::configureBehaviorPlugins()

void BehaviorServer::setupResourcesForBehaviorPlugins()
{
std::string local_costmap_topic, global_costmap_topic;
std::string local_footprint_topic, global_footprint_topic;
std::string robot_base_frame;
double transform_tolerance;
get_parameter("local_costmap_topic", local_costmap_topic);
get_parameter("global_costmap_topic", global_costmap_topic);
get_parameter("local_footprint_topic", local_footprint_topic);
get_parameter("global_footprint_topic", global_footprint_topic);
get_parameter("robot_base_frame", robot_base_frame);
transform_tolerance = get_parameter("transform_tolerance").as_double();
std::string local_costmap_topic = declare_or_get_parameter(
"local_costmap_topic", std::string("local_costmap/costmap_raw"));
std::string global_costmap_topic = declare_or_get_parameter(
"global_costmap_topic", std::string("global_costmap/costmap_raw"));
std::string local_footprint_topic = declare_or_get_parameter(
"local_footprint_topic", std::string("local_costmap/published_footprint"));
std::string global_footprint_topic = declare_or_get_parameter(
"global_footprint_topic", std::string("global_costmap/published_footprint"));
std::string robot_base_frame = declare_or_get_parameter(
"robot_base_frame", std::string("base_link"));
double transform_tolerance = declare_or_get_parameter("transform_tolerance", 0.1);

bool need_local_costmap = false;
bool need_global_costmap = false;
Expand Down
29 changes: 9 additions & 20 deletions nav2_behaviors/test/test_behaviors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,19 +111,15 @@ class BehaviorTest : public ::testing::Test
node_lifecycle_ =
std::make_shared<nav2::LifecycleNode>(
"LifecycleBehaviorTestNode", rclcpp::NodeOptions());
node_lifecycle_->declare_parameter(
"local_costmap_topic",
rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));
node_lifecycle_->declare_parameter(
"local_footprint_topic",
rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));

node_lifecycle_->declare_parameter(
"global_costmap_topic",
rclcpp::ParameterValue(std::string("global_costmap/costmap_raw")));
node_lifecycle_->declare_parameter(
"global_footprint_topic",
rclcpp::ParameterValue(std::string("global_costmap/published_footprint")));

std::string local_costmap_topic = node_lifecycle_->declare_or_get_parameter(
"local_costmap_topic", std::string("local_costmap/costmap_raw"));
std::string local_footprint_topic = node_lifecycle_->declare_or_get_parameter(
"local_footprint_topic", std::string("local_costmap/published_footprint"));
std::string global_costmap_topic = node_lifecycle_->declare_or_get_parameter(
"global_costmap_topic", std::string("global_costmap/costmap_raw"));
std::string global_footprint_topic = node_lifecycle_->declare_or_get_parameter(
"global_footprint_topic", std::string("global_costmap/published_footprint"));

tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_lifecycle_->get_clock());
auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
Expand All @@ -132,13 +128,6 @@ class BehaviorTest : public ::testing::Test
tf_buffer_->setCreateTimerInterface(timer_interface);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);

std::string local_costmap_topic, global_costmap_topic;
std::string local_footprint_topic, global_footprint_topic;
node_lifecycle_->get_parameter("local_costmap_topic", local_costmap_topic);
node_lifecycle_->get_parameter("global_costmap_topic", global_costmap_topic);
node_lifecycle_->get_parameter("local_footprint_topic", local_footprint_topic);
node_lifecycle_->get_parameter("global_footprint_topic", global_footprint_topic);

std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> local_costmap_sub_ =
std::make_shared<nav2_costmap_2d::CostmapSubscriber>(
node_lifecycle_, global_costmap_topic);
Expand Down
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