Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add logic for 'params_file' to handle both string and string_array #1898

Merged
merged 5 commits into from
Nov 29, 2024
Merged

add logic for 'params_file' to handle both string and string_array #1898

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
efed751
add logic for 'params_file' to handle both string and string_array
saikishor Nov 28, 2024
bb88d53
Add test to the case of the parsing a string path
saikishor Nov 28, 2024
0bdb06f
Update docs
saikishor Nov 28, 2024
597d46b
Fix the compatibility build by checking if the parameter has already …
saikishor Nov 29, 2024
72483f0
Clarify comment
christophfroehlich Nov 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 24 additions & 15 deletions controller_manager/src/controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -551,16 +551,28 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
// read_only params, dynamic maps lists etc
// Now check if the parameters_file parameter exist
const std::string param_name = controller_name + ".params_file";
std::vector<std::string> parameters_files;
controller_spec.info.parameters_files.clear();

// Check if parameter has been declared
saikishor marked this conversation as resolved.
Show resolved Hide resolved
if (!has_parameter(param_name))
{
declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING_ARRAY);
}
if (get_parameter(param_name, parameters_files) && !parameters_files.empty())
rclcpp::Parameter params_files_parameter;
if (get_parameter(param_name, params_files_parameter))
{
controller_spec.info.parameters_files = parameters_files;
if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING_ARRAY)
{
controller_spec.info.parameters_files = params_files_parameter.as_string_array();
}
else if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING)
{
controller_spec.info.parameters_files.push_back(params_files_parameter.as_string());
}
else
{
RCLCPP_ERROR(
get_logger(),
"The 'params_file' param needs to be a string or a string array for '%s', but it is of "
"type %s",
controller_name.c_str(), params_files_parameter.get_type_name().c_str());
}
}

const std::string fallback_ctrl_param = controller_name + ".fallback_controllers";
Expand Down Expand Up @@ -3250,17 +3262,14 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
node_options_arguments.push_back(arg);
}

if (controller.info.parameters_files.has_value())
for (const auto & parameters_file : controller.info.parameters_files)
{
for (const auto & parameters_file : controller.info.parameters_files.value())
if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
{
if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
{
node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
}
node_options_arguments.push_back(RCL_PARAM_FILE_FLAG);
node_options_arguments.push_back(parameters_file);
node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
}
node_options_arguments.push_back(RCL_PARAM_FILE_FLAG);
node_options_arguments.push_back(parameters_file);
}

// ensure controller's `use_sim_time` parameter matches controller_manager's
Expand Down
2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/controller_info.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ struct ControllerInfo
std::string type;

/// Controller param file
std::optional<std::vector<std::string>> parameters_files;
std::vector<std::string> parameters_files;

/// List of claimed interfaces by the controller.
std::vector<std::string> claimed_interfaces;
Expand Down