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fix: Node level lazy parameter fix #852

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fix: Node level lazy parameter fix #852

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5 changes: 3 additions & 2 deletions ros_gz_bridge/include/ros_gz_bridge/bridge_config.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,9 @@ struct BridgeConfig
/// \brief Depth of the publisher queue
std::optional<size_t> publisher_queue_size;

/// \brief Flag to change the "laziness" of the bridge
bool is_lazy = kDefaultLazy;
/// \brief Flag to change the "laziness" of the bridge.
/// When std::nullopt, the node-level lazy parameter is used as the default.
std::optional<bool> is_lazy;

/// \brief QoS profile (unresolved, might have wrong depth).
/// \note Use PublisherQoS() and SubscriberQoS() to get the final QoS.
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2 changes: 1 addition & 1 deletion ros_gz_bridge/src/bridge_handle.cpp
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Expand Up @@ -36,7 +36,7 @@ BridgeHandle::~BridgeHandle() = default;

bool BridgeHandle::IsLazy() const
{
return config_.is_lazy;
return config_.is_lazy.value_or(kDefaultLazy);
}

void BridgeHandle::Start()
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1 change: 1 addition & 0 deletions ros_gz_bridge/src/parameter_bridge.cpp
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Expand Up @@ -166,6 +166,7 @@ int main(int argc, char * argv[])
return -1;
}
config.gz_type_name = arg;
config.is_lazy = lazy_subscription;
bridge_node->add_bridge(config);
}

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10 changes: 7 additions & 3 deletions ros_gz_bridge/src/ros_gz_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ RosGzBridge::RosGzBridge(const rclcpp::NodeOptions & options)
// If it is defined, they are applied only if they are non-negative.
this->declare_parameter(prefix + "publisher_queue", -1);
this->declare_parameter(prefix + "subscriber_queue", -1);
this->declare_parameter(prefix + "lazy", false);
this->declare_parameter(prefix + "lazy", this->get_parameter("lazy").as_bool());
this->declare_parameter(prefix + "qos_profile", "");
} else {
const auto gz_req_type = this->declare_parameter(prefix + "gz_req_type_name",
Expand Down Expand Up @@ -126,6 +126,9 @@ void RosGzBridge::spin()
const std::string ros_ns = this->get_namespace();
const std::string ros_node_name = this->get_name();

bool lazy;
this->get_parameter("lazy", lazy);

// Add bridges from config file
if (!config_file.empty()) {
auto entries = readFromYamlFile(config_file);
Expand All @@ -134,6 +137,7 @@ void RosGzBridge::spin()
entry.gz_topic_name = rclcpp::expand_topic_or_service_name(
entry.gz_topic_name, ros_node_name, ros_ns, false);
}
entry.is_lazy = entry.is_lazy.value_or(lazy);
if (entry.service_name.empty()) {
this->add_bridge(entry);
} else {
Expand Down Expand Up @@ -258,7 +262,7 @@ void RosGzBridge::add_bridge(const BridgeConfig & config)
"Creating GZ->ROS Bridge: [%s (%s) -> %s (%s)] (Lazy %d)",
config.gz_topic_name.c_str(), config.gz_type_name.c_str(),
config.ros_topic_name.c_str(), config.ros_type_name.c_str(),
config.is_lazy);
config.is_lazy.value_or(kDefaultLazy));
handles_.push_back(
std::make_unique<ros_gz_bridge::BridgeHandleGzToRos>(
shared_from_this(), gz_node_,
Expand All @@ -273,7 +277,7 @@ void RosGzBridge::add_bridge(const BridgeConfig & config)
"Creating ROS->GZ Bridge: [%s (%s) -> %s (%s)] (Lazy %d)",
config.ros_topic_name.c_str(), config.ros_type_name.c_str(),
config.gz_topic_name.c_str(), config.gz_type_name.c_str(),
config.is_lazy);
config.is_lazy.value_or(kDefaultLazy));
handles_.push_back(
std::make_unique<ros_gz_bridge::BridgeHandleRosToGz>(
shared_from_this(), gz_node_,
Expand Down
16 changes: 8 additions & 8 deletions ros_gz_bridge/test/bridge_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ TEST_F(BridgeConfig, Minimum)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_FALSE(config.publisher_queue_size.has_value());
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
EXPECT_EQ(std::nullopt, config.is_lazy);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.PublisherQoS());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.SubscriberQoS());
Expand All @@ -94,7 +94,7 @@ TEST_F(BridgeConfig, Minimum)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_FALSE(config.publisher_queue_size.has_value());
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
EXPECT_EQ(std::nullopt, config.is_lazy);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.PublisherQoS());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.SubscriberQoS());
Expand All @@ -107,7 +107,7 @@ TEST_F(BridgeConfig, Minimum)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_FALSE(config.publisher_queue_size.has_value());
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
EXPECT_EQ(std::nullopt, config.is_lazy);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.PublisherQoS());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.SubscriberQoS());
Expand All @@ -120,7 +120,7 @@ TEST_F(BridgeConfig, Minimum)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_FALSE(config.publisher_queue_size.has_value());
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
EXPECT_EQ(std::nullopt, config.is_lazy);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.PublisherQoS());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(10u)), config.SubscriberQoS());
Expand All @@ -147,7 +147,7 @@ TEST_F(BridgeConfig, FullGz)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_EQ(6u, config.publisher_queue_size.value_or(0));
EXPECT_EQ(5u, config.subscriber_queue_size.value_or(0));
EXPECT_EQ(true, config.is_lazy);
EXPECT_EQ(std::optional<bool>(true), config.is_lazy);
EXPECT_EQ(ros_gz_bridge::BridgeDirection::ROS_TO_GZ, config.direction);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(6u)), config.PublisherQoS());
Expand All @@ -162,7 +162,7 @@ TEST_F(BridgeConfig, FullGz)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_EQ(20u, config.publisher_queue_size.value_or(0));
EXPECT_EQ(10u, config.subscriber_queue_size.value_or(0));
EXPECT_EQ(false, config.is_lazy);
EXPECT_EQ(std::optional<bool>(false), config.is_lazy);
EXPECT_EQ(ros_gz_bridge::BridgeDirection::GZ_TO_ROS, config.direction);
EXPECT_FALSE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::QoS(rclcpp::KeepLast(20u)), config.PublisherQoS());
Expand Down Expand Up @@ -191,7 +191,7 @@ TEST_F(BridgeConfig, QoSFullGz)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_FALSE(config.publisher_queue_size.has_value());
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(true, config.is_lazy);
EXPECT_EQ(std::optional<bool>(true), config.is_lazy);
EXPECT_EQ(ros_gz_bridge::BridgeDirection::ROS_TO_GZ, config.direction);
ASSERT_TRUE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::SensorDataQoS(), *config.qos_profile);
Expand All @@ -207,7 +207,7 @@ TEST_F(BridgeConfig, QoSFullGz)
EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
EXPECT_EQ(20u, config.publisher_queue_size.value_or(0));
EXPECT_FALSE(config.subscriber_queue_size.has_value());
EXPECT_EQ(false, config.is_lazy);
EXPECT_EQ(std::optional<bool>(false), config.is_lazy);
EXPECT_EQ(ros_gz_bridge::BridgeDirection::GZ_TO_ROS, config.direction);
ASSERT_TRUE(config.qos_profile.has_value());
EXPECT_EQ(rclcpp::ClockQoS(), *config.qos_profile);
Expand Down
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