Parameter dumping utility

nav2_amcl/src/amcl_node.cpp

@@ -59,42 +59,106 @@ AmclNode::AmclNode()
 {
   RCLCPP_INFO(get_logger(), "Creating");
 
-  declare_parameter("alpha1", rclcpp::ParameterValue(0.2));
-  declare_parameter("alpha2", rclcpp::ParameterValue(0.2));
-  declare_parameter("alpha3", rclcpp::ParameterValue(0.2));
-  declare_parameter("alpha4", rclcpp::ParameterValue(0.2));
-  declare_parameter("alpha5", rclcpp::ParameterValue(0.2));
-  declare_parameter("base_frame_id", rclcpp::ParameterValue(std::string("base_footprint")));
-  declare_parameter("beam_skip_distance", rclcpp::ParameterValue(0.5));
-  declare_parameter("beam_skip_error_threshold", rclcpp::ParameterValue(0.9));
-  declare_parameter("beam_skip_threshold", rclcpp::ParameterValue(0.3));
-  declare_parameter("do_beamskip", rclcpp::ParameterValue(false));
-  declare_parameter("global_frame_id", rclcpp::ParameterValue(std::string("map")));
-  declare_parameter("lambda_short", rclcpp::ParameterValue(0.1));
-  declare_parameter("laser_likelihood_max_dist", rclcpp::ParameterValue(2.0));
-  declare_parameter("laser_max_range", rclcpp::ParameterValue(100.0));
-  declare_parameter("laser_min_range", rclcpp::ParameterValue(-1.0));
-  declare_parameter("laser_model_type", rclcpp::ParameterValue(std::string("likelihood_field")));
-  declare_parameter("max_beams", rclcpp::ParameterValue(60));
-  declare_parameter("max_particles", rclcpp::ParameterValue(2000));
-  declare_parameter("min_particles", rclcpp::ParameterValue(500));
-  declare_parameter("odom_frame_id", rclcpp::ParameterValue(std::string("odom")));
-  declare_parameter("pf_err", rclcpp::ParameterValue(0.05));
-  declare_parameter("pf_z", rclcpp::ParameterValue(0.99));
-  declare_parameter("recovery_alpha_fast", rclcpp::ParameterValue(0.0));
-  declare_parameter("recovery_alpha_slow", rclcpp::ParameterValue(0.0));
-  declare_parameter("resample_interval", rclcpp::ParameterValue(1));
-  declare_parameter("robot_model_type", rclcpp::ParameterValue(std::string("differential")));
-  declare_parameter("save_pose_rate", rclcpp::ParameterValue(0.5));
-  declare_parameter("sigma_hit", rclcpp::ParameterValue(0.2));
-  declare_parameter("tf_broadcast", rclcpp::ParameterValue(true));
-  declare_parameter("transform_tolerance", rclcpp::ParameterValue(1.0));
-  declare_parameter("update_min_a", rclcpp::ParameterValue(0.2));
-  declare_parameter("update_min_d", rclcpp::ParameterValue(0.25));
-  declare_parameter("z_hit", rclcpp::ParameterValue(0.5));
-  declare_parameter("z_max", rclcpp::ParameterValue(0.05));
-  declare_parameter("z_rand", rclcpp::ParameterValue(0.5));
-  declare_parameter("z_short", rclcpp::ParameterValue(0.05));
+  add_parameter("alpha1", rclcpp::ParameterValue(0.2),
+    "This is the alpha1 parameter", "These are additional constraints for alpha1");
+
+  add_parameter("alpha2", rclcpp::ParameterValue(0.2),
+    "This is the alpha2 parameter", "These are additional constraints for alpha2");
+
+  add_parameter("alpha3", rclcpp::ParameterValue(0.2),
+    "This is the alpha3 parameter", "These are additional constraints for alpha3");
+
+  add_parameter("alpha4", rclcpp::ParameterValue(0.2),
+    "This is the alpha4 parameter", "These are additional constraints for alpha4");
+
+  add_parameter("alpha5", rclcpp::ParameterValue(0.2),
+    "This is the alpha5 parameter", "These are additional constraints for alpha5");
+
+  add_parameter("base_frame_id", rclcpp::ParameterValue(std::string("base_footprint")),
+    "Which frame to use for the robot base");
+
+  add_parameter("beam_skip_distance", rclcpp::ParameterValue(0.5));
+  add_parameter("beam_skip_error_threshold", rclcpp::ParameterValue(0.9));
+  add_parameter("beam_skip_threshold", rclcpp::ParameterValue(0.3));
+  add_parameter("do_beamskip", rclcpp::ParameterValue(false));
+
+  add_parameter("global_frame_id", rclcpp::ParameterValue(std::string("map")),
+    "The name of the coordinate frame published by the localization system");
+
+  add_parameter("lambda_short", rclcpp::ParameterValue(0.1),
+    "Exponential decay parameter for z_short part of model");
+
+  add_parameter("laser_likelihood_max_dist", rclcpp::ParameterValue(2.0),
+    "Maximum distance to do obstacle inflation on map, for use in likelihood_field model");
+
+  add_parameter("laser_max_range", rclcpp::ParameterValue(100.0),
+    "Maximum scan range to be considered",
+    "-1.0 will cause the laser's reported maximum range to be used");
+
+  add_parameter("laser_min_range", rclcpp::ParameterValue(-1.0),
+    "Minimum scan range to be considered",
+    "-1.0 will cause the laser's reported minimum range to be used");
+
+  add_parameter("laser_model_type", rclcpp::ParameterValue(std::string("likelihood_field")),
+    "Which model to use, either beam, likelihood_field, or likelihood_field_prob",
+    "Ssame as likelihood_field but incorporates the beamskip feature, if enabled");
+
+  add_parameter("max_beams", rclcpp::ParameterValue(60),
+    "How many evenly-spaced beams in each scan to be used when updating the filter");
+
+  add_parameter("max_particles", rclcpp::ParameterValue(2000),
+    "Minimum allowed number of particles");
+
+  add_parameter("min_particles", rclcpp::ParameterValue(500),
+    "Maximum allowed number of particles");
+
+  add_parameter("odom_frame_id", rclcpp::ParameterValue(std::string("odom")),
+    "Which frame to use for odometry");
+
+  add_parameter("pf_err", rclcpp::ParameterValue(0.05));
+  add_parameter("pf_z", rclcpp::ParameterValue(0.99));
+
+  add_parameter("recovery_alpha_fast", rclcpp::ParameterValue(0.0),
+    "Exponential decay rate for the fast average weight filter, used in deciding when to recover "
+    "by adding random poses",
+    "A good value might be 0.1");
+
+  add_parameter("recovery_alpha_slow", rclcpp::ParameterValue(0.0),
+    "Exponential decay rate for the slow average weight filter, used in deciding when to recover "
+    "by adding random poses",
+    "A good value might be 0.001");
+
+  add_parameter("resample_interval", rclcpp::ParameterValue(1),
+    "Number of filter updates required before resampling");
+
+  add_parameter("robot_model_type", rclcpp::ParameterValue(std::string("differential")));
+
+  add_parameter("save_pose_rate", rclcpp::ParameterValue(0.5),
+    "Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter "
+    "server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used "
+    "on subsequent runs to initialize the filter",
+    "-1.0 to disable");
+
+  add_parameter("sigma_hit", rclcpp::ParameterValue(0.2));
+
+  add_parameter("tf_broadcast", rclcpp::ParameterValue(true),
+    "Set this to false to prevent amcl from publishing the transform between the global frame and "
+    "the odometry frame");
+
+  add_parameter("transform_tolerance", rclcpp::ParameterValue(1.0),
+    "Time with which to post-date the transform that is published, to indicate that this transform "
+    "is valid into the future");
+
+  add_parameter("update_min_a", rclcpp::ParameterValue(0.2),
+    "Rotational movement required before performing a filter update");
+
+  add_parameter("update_min_d", rclcpp::ParameterValue(0.25),
+    "Translational movement required before performing a filter update");
+
+  add_parameter("z_hit", rclcpp::ParameterValue(0.5));
+  add_parameter("z_max", rclcpp::ParameterValue(0.05));
+  add_parameter("z_rand", rclcpp::ParameterValue(0.5));
+  add_parameter("z_short", rclcpp::ParameterValue(0.05));
 }
 
 AmclNode::~AmclNode()

nav2_util/include/nav2_util/lifecycle_node.hpp

@@ -41,6 +41,73 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   virtual ~LifecycleNode();
 
+  typedef struct {
+    double from_value;
+    double to_value;
+    double step;
+  } floating_point_range;
+
+  typedef struct {
+    int from_value;
+    int to_value;
+    int step;
+  } integer_range;
+
+  // Declare a parameter that has no integer or floating point range constraints
+  void add_parameter(const std::string & name, const rclcpp::ParameterValue & default_value,
+    const std::string & description = "", const std::string & additional_constraints = "",
+    bool read_only = false)
+  {
+    auto descriptor = rcl_interfaces::msg::ParameterDescriptor();
+
+    descriptor.name = name;
+    descriptor.description = description;
+    descriptor.additional_constraints = additional_constraints;
+    descriptor.read_only = read_only;
+
+    declare_parameter(descriptor.name, default_value, descriptor);
+  }
+
+  // Declare a parameter that has a floating point range constraint
+  void add_parameter(const std::string & name, const rclcpp::ParameterValue & default_value,
+    const floating_point_range fp_range,
+    const std::string & description = "", const std::string & additional_constraints = "",
+    bool read_only = false)
+  {
+    auto descriptor = rcl_interfaces::msg::ParameterDescriptor();
+
+    descriptor.name = name;
+    descriptor.description = description;
+    descriptor.additional_constraints = additional_constraints;
+    descriptor.read_only = read_only;
+    descriptor.floating_point_range.resize(1);
+    descriptor.floating_point_range[0].from_value = fp_range.from_value;
+    descriptor.floating_point_range[0].to_value = fp_range.to_value;
+    descriptor.floating_point_range[0].step = fp_range.step;
+
+    declare_parameter(descriptor.name, default_value, descriptor);
+  }
+
+  // Declare a parameter that has an integer range constraint
+  void add_parameter(const std::string & name, const rclcpp::ParameterValue & default_value,
+    const integer_range int_range,
+    const std::string & description = "", const std::string & additional_constraints = "",
+    bool read_only = false)
+  {
+    auto descriptor = rcl_interfaces::msg::ParameterDescriptor();
+
+    descriptor.name = name;
+    descriptor.description = description;
+    descriptor.additional_constraints = additional_constraints;
+    descriptor.read_only = read_only;
+    descriptor.integer_range.resize(1);
+    descriptor.integer_range[0].from_value = int_range.from_value;
+    descriptor.integer_range[0].to_value = int_range.to_value;
+    descriptor.integer_range[0].step = int_range.step;
+
+    declare_parameter(descriptor.name, default_value, descriptor);
+  }
+
 protected:
   // Whether or not to create a local rclcpp::Node which can be used for ROS2 classes that don't
   // yet support lifecycle nodes

nav2_util/src/CMakeLists.txt

@@ -29,9 +29,19 @@ add_executable(lifecycle_bringup
 )
 target_link_libraries(lifecycle_bringup ${library_name})
 
+find_package(Boost REQUIRED COMPONENTS program_options)
+
+add_executable(dump_params dump_params.cpp)
+ament_target_dependencies(dump_params rclcpp)
+
+target_include_directories(dump_params PUBLIC ${Boost_INCLUDE_DIRS})
+
+target_link_libraries(dump_params ${Boost_PROGRAM_OPTIONS_LIBRARY})
+
 install(TARGETS
   ${library_name}
   lifecycle_bringup
+  dump_params
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}