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Get parameters on configure transition addressing #2985 #3000

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merged 3 commits into from
Jun 9, 2022
Merged

Get parameters on configure transition addressing #2985 #3000

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5e82840
Get parameters on configure transition
MartiBolet Jun 6, 2022
92fbfb3
Remove past setting of parameters
MartiBolet Jun 6, 2022
6735949
Expose transition functions to public for test
MartiBolet Jun 8, 2022
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17 changes: 11 additions & 6 deletions nav2_map_server/src/map_saver/map_saver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,12 +46,11 @@ MapSaver::MapSaver(const rclcpp::NodeOptions & options)
{
RCLCPP_INFO(get_logger(), "Creating");

save_map_timeout_ = std::make_shared<rclcpp::Duration>(
rclcpp::Duration::from_seconds(declare_parameter("save_map_timeout", 2.0)));

free_thresh_default_ = declare_parameter("free_thresh_default", 0.25),
occupied_thresh_default_ = declare_parameter("occupied_thresh_default", 0.65);
map_subscribe_transient_local_ = declare_parameter("map_subscribe_transient_local", true);
// Declare the node parameters
declare_parameter("save_map_timeout", 2.0);
declare_parameter("free_thresh_default", 0.25);
declare_parameter("occupied_thresh_default", 0.65);
declare_parameter("map_subscribe_transient_local", true);
}

MapSaver::~MapSaver()
Expand All @@ -66,6 +65,12 @@ MapSaver::on_configure(const rclcpp_lifecycle::State & /*state*/)
// Make name prefix for services
const std::string service_prefix = get_name() + std::string("/");

save_map_timeout_ = std::make_shared<rclcpp::Duration>(
rclcpp::Duration::from_seconds(get_parameter("save_map_timeout").as_double()));
free_thresh_default_ = get_parameter("free_thresh_default").as_double();
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occupied_thresh_default_ = get_parameter("occupied_thresh_default").as_double();
map_subscribe_transient_local_ = get_parameter("map_subscribe_transient_local").as_bool();

// Create a service that saves the occupancy grid from map topic to a file
save_map_service_ = create_service<nav2_msgs::srv::SaveMap>(
service_prefix + save_map_service_name_,
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