Fix filter chain configuration parameter loading #69
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Could you look through CI and address the failing tests? It looks like cpplint is failing, at least on humble. |
jonbinney
reviewed
Nov 28, 2023
|
@jonbinney basically there is no longer "parameter redeclaration" and no default values. It creates new parameters with every new filter. |
meyerj
reviewed
Dec 1, 2023
| // 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; |
There was a problem hiding this comment.
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.
There was a problem hiding this comment.
Or directly pass the name only without the extra descriptor declarations, if the default descriptors will do.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Trying to use filters_demo_launch.py which has the following (filters)[https://github.com/ANYbotics/grid_map/blob/ros2/grid_map_demos/config/filters_demo_filter_chain.yaml] it fails to load with a runtime error.
The PR allows loading of the configuration. It has also been tested with other configuration parameters successfully.