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Fix filter chain configuration parameter loading #69

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Fix filter chain configuration parameter loading #69

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a2f1df0
Fix filter chain configuration parameter loading
paucarrecardona Nov 23, 2023
c102a15
C++ linting fixes
paucarrecardona Nov 27, 2023
22bf7c3
Remove unused variable
paucarrecardona Nov 27, 2023
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29 changes: 6 additions & 23 deletions include/filters/filter_chain.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,30 +70,22 @@ load_chain_config(
const std::string norm_param_prefix = impl::normalize_param_prefix(param_prefix);

// Read parameters for filter1..filterN
for (size_t filter_num = 1; filter_num > found_filters.size(); ++filter_num) {
for (size_t filter_num = 1; ; ++filter_num) {
// Parameters in chain are prefixed with 'filterN.'
const std::string filter_n = "filter" + std::to_string(filter_num);

// Declare filterN.name and filterN.type
// Declare filterN.name
rcl_interfaces::msg::ParameterDescriptor name_desc;
name_desc.name = norm_param_prefix + filter_n + ".name";
name_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
name_desc.read_only = false;
// Must be dynamically typed because later we undeclare it and redeclare
// it read-only, but statically typed params cannot be undeclared.
name_desc.dynamic_typing = true;
node_params->declare_parameter(name_desc.name, rclcpp::PARAMETER_STRING);
rcl_interfaces::msg::ParameterDescriptor type_desc;
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@meyerj meyerj Dec 1, 2023 •
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type_desc and name_desc are declared and populated, but then unused besides the name. I suggest to use the declare_parameter() overloads that accept a rcl_interfaces::msg::ParameterDescriptor, same as before.

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Or directly pass the name only without the extra descriptor declarations, if the default descriptors will do.

// Declare filterN.type
type_desc.name = norm_param_prefix + filter_n + ".type";
type_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
type_desc.read_only = false;
// Must be dynamically typed because later we undeclare it and redeclare
// it read-only, but statically typed params cannot be undeclared.
type_desc.dynamic_typing = true;

node_params->declare_parameter(
name_desc.name, rclcpp::ParameterValue(), name_desc);
node_params->declare_parameter(
type_desc.name, rclcpp::ParameterValue(), type_desc);
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node_params->declare_parameter(type_desc.name, rclcpp::PARAMETER_STRING);

rclcpp::Parameter param_name;
rclcpp::Parameter param_type;
Expand Down Expand Up @@ -139,6 +131,7 @@ load_chain_config(
}
}


// Make sure 'type' is formated as 'package_name/filtername'
if (1 != std::count(found_filter.type.cbegin(), found_filter.type.cend(), '/')) {
RCLCPP_FATAL(
Expand All @@ -150,16 +143,6 @@ load_chain_config(
// Seems ok; store it for now; it will be loaded further down.
found_filter.param_prefix = norm_param_prefix + filter_n + ".params";
found_filters.push_back(found_filter);

// Redeclare 'name' and 'type' as read_only
node_params->undeclare_parameter(name_desc.name);
node_params->undeclare_parameter(type_desc.name);
name_desc.read_only = true;
type_desc.read_only = true;
node_params->declare_parameter(
name_desc.name, rclcpp::ParameterValue(found_filter.name), name_desc);
node_params->declare_parameter(
type_desc.name, rclcpp::ParameterValue(found_filter.type), type_desc);
}
return true;
}
Expand Down