Get parameters on configure transition addressing ros-navigation#2985 (…

…ros-navigation#3000) * Get parameters on configure transition Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Remove past setting of parameters Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Expose transition functions to public for test Signed-off-by: MartiBolet <mboletboixeda@gmail.com>
EnjoyRobotics · Jun 30, 2022 · 15a1e10 · 15a1e10
1 parent 1beae05
commit 15a1e10
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Showing 3 changed files with 13 additions and 7 deletions.
diff --git a/nav2_map_server/include/nav2_map_server/map_saver.hpp b/nav2_map_server/include/nav2_map_server/map_saver.hpp
@@ -56,7 +56,6 @@ class MapSaver : public nav2_util::LifecycleNode
     const std::string & map_topic,
     const SaveParameters & save_parameters);
 
-protected:
   /**
    * @brief Sets up map saving service
    * @param state Lifecycle Node's state
@@ -88,6 +87,7 @@ class MapSaver : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
+protected:
   /**
    * @brief Map saving service callback
    * @param request_header Service request header

diff --git a/nav2_map_server/src/map_saver/main_cli.cpp b/nav2_map_server/src/map_saver/main_cli.cpp
@@ -164,6 +164,7 @@ int main(int argc, char ** argv)
   int retcode;
   try {
     auto map_saver = std::make_shared<nav2_map_server::MapSaver>();
+    map_saver->on_configure(rclcpp_lifecycle::State());
     if (map_saver->saveMapTopicToFile(map_topic, save_parameters)) {
       retcode = 0;
     } else {

diff --git a/nav2_map_server/src/map_saver/map_saver.cpp b/nav2_map_server/src/map_saver/map_saver.cpp
@@ -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()
@@ -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();
+  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_,