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Use the new declare_or_get_parameter API for nav2_graceful_controller #5730

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Use the new declare_or_get_parameter API for nav2_graceful_controller #5730

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106 changes: 40 additions & 66 deletions nav2_graceful_controller/src/parameter_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@
namespace nav2_graceful_controller
{

using nav2::declare_parameter_if_not_declared;
using rcl_interfaces::msg::ParameterType;

ParameterHandler::ParameterHandler(
Expand All @@ -33,79 +32,54 @@ ParameterHandler::ParameterHandler(
: nav2_util::ParameterHandler<Parameters>(node, logger)
{
plugin_name_ = plugin_name;
declare_parameter_if_not_declared(
node, plugin_name_ + ".transform_tolerance", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
node, plugin_name_ + ".min_lookahead", rclcpp::ParameterValue(0.25));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_lookahead", rclcpp::ParameterValue(1.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_robot_pose_search_dist",
rclcpp::ParameterValue(costmap_size_x / 2.0));
declare_parameter_if_not_declared(node, plugin_name_ + ".k_phi", rclcpp::ParameterValue(2.0));
declare_parameter_if_not_declared(node, plugin_name_ + ".k_delta", rclcpp::ParameterValue(1.0));
declare_parameter_if_not_declared(node, plugin_name_ + ".beta", rclcpp::ParameterValue(0.4));
declare_parameter_if_not_declared(node, plugin_name_ + ".lambda", rclcpp::ParameterValue(2.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".v_linear_min", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
node, plugin_name_ + ".v_linear_max", rclcpp::ParameterValue(0.5));
declare_parameter_if_not_declared(
node, plugin_name_ + ".v_angular_max", rclcpp::ParameterValue(1.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".v_angular_min_in_place", rclcpp::ParameterValue(0.25));
declare_parameter_if_not_declared(
node, plugin_name_ + ".slowdown_radius", rclcpp::ParameterValue(1.5));
declare_parameter_if_not_declared(
node, plugin_name_ + ".initial_rotation", rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".initial_rotation_tolerance", rclcpp::ParameterValue(0.75));
declare_parameter_if_not_declared(
node, plugin_name_ + ".prefer_final_rotation", rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".rotation_scaling_factor", rclcpp::ParameterValue(0.5));
declare_parameter_if_not_declared(
node, plugin_name_ + ".allow_backward", rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".in_place_collision_resolution", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_collision_detection", rclcpp::ParameterValue(true));

node->get_parameter(plugin_name_ + ".transform_tolerance", params_.transform_tolerance);
node->get_parameter(plugin_name_ + ".min_lookahead", params_.min_lookahead);
node->get_parameter(plugin_name_ + ".max_lookahead", params_.max_lookahead);
node->get_parameter(
plugin_name_ + ".max_robot_pose_search_dist", params_.max_robot_pose_search_dist);
params_.transform_tolerance = node->declare_or_get_parameter(
plugin_name_ + ".transform_tolerance", 0.1);
params_.min_lookahead = node->declare_or_get_parameter(
plugin_name_ + ".min_lookahead", 0.25);
params_.max_lookahead = node->declare_or_get_parameter(
plugin_name_ + ".max_lookahead", 1.0);
params_.max_robot_pose_search_dist = node->declare_or_get_parameter(
plugin_name_ + ".max_robot_pose_search_dist", costmap_size_x / 2.0);
if (params_.max_robot_pose_search_dist < 0.0) {
RCLCPP_WARN(
logger_, "Max robot search distance is negative, setting to max to search"
" every point on path for the closest value.");
params_.max_robot_pose_search_dist = std::numeric_limits<double>::max();
}

node->get_parameter(plugin_name_ + ".k_phi", params_.k_phi);
node->get_parameter(plugin_name_ + ".k_delta", params_.k_delta);
node->get_parameter(plugin_name_ + ".beta", params_.beta);
node->get_parameter(plugin_name_ + ".lambda", params_.lambda);
node->get_parameter(plugin_name_ + ".v_linear_min", params_.v_linear_min);
node->get_parameter(plugin_name_ + ".v_linear_max", params_.v_linear_max);
params_.v_linear_max_initial = params_.v_linear_max;
node->get_parameter(plugin_name_ + ".v_angular_max", params_.v_angular_max);
params_.v_angular_max_initial = params_.v_angular_max;
node->get_parameter(
plugin_name_ + ".v_angular_min_in_place", params_.v_angular_min_in_place);
node->get_parameter(plugin_name_ + ".slowdown_radius", params_.slowdown_radius);
node->get_parameter(plugin_name_ + ".initial_rotation", params_.initial_rotation);
node->get_parameter(
plugin_name_ + ".initial_rotation_tolerance", params_.initial_rotation_tolerance);
node->get_parameter(plugin_name_ + ".prefer_final_rotation", params_.prefer_final_rotation);
node->get_parameter(plugin_name_ + ".rotation_scaling_factor", params_.rotation_scaling_factor);
node->get_parameter(plugin_name_ + ".allow_backward", params_.allow_backward);
node->get_parameter(
plugin_name_ + ".in_place_collision_resolution", params_.in_place_collision_resolution);
node->get_parameter(
plugin_name_ + ".use_collision_detection", params_.use_collision_detection);

params_.k_phi = node->declare_or_get_parameter(
plugin_name_ + ".k_phi", 2.0);
params_.k_delta = node->declare_or_get_parameter(
plugin_name_ + ".k_delta", 1.0);
params_.beta = node->declare_or_get_parameter(
plugin_name_ + ".beta", 0.4);
params_.lambda = node->declare_or_get_parameter(
plugin_name_ + ".lambda", 2.0);
params_.v_linear_min = node->declare_or_get_parameter(
plugin_name_ + ".v_linear_min", 0.1);
params_.v_linear_max = node->declare_or_get_parameter(
plugin_name_ + ".v_linear_max", 0.5);
params_.v_angular_max = node->declare_or_get_parameter(
plugin_name_ + ".v_angular_max", 1.0);
params_.v_angular_min_in_place = node->declare_or_get_parameter(
plugin_name_ + ".v_angular_min_in_place", 0.25);
params_.slowdown_radius = node->declare_or_get_parameter(
plugin_name_ + ".slowdown_radius", 1.5);
params_.initial_rotation = node->declare_or_get_parameter(
plugin_name_ + ".initial_rotation", true);
params_.initial_rotation_tolerance = node->declare_or_get_parameter(
plugin_name_ + ".initial_rotation_tolerance", 0.75);
params_.prefer_final_rotation = node->declare_or_get_parameter(
plugin_name_ + ".prefer_final_rotation", true);
params_.rotation_scaling_factor = node->declare_or_get_parameter(
plugin_name_ + ".rotation_scaling_factor", 0.5);
params_.allow_backward = node->declare_or_get_parameter(
plugin_name_ + ".allow_backward", false);
params_.in_place_collision_resolution = node->declare_or_get_parameter(
plugin_name_ + ".in_place_collision_resolution", 0.1);
params_.use_collision_detection = node->declare_or_get_parameter(
plugin_name_ + ".use_collision_detection", true);
if (params_.initial_rotation && params_.allow_backward) {
RCLCPP_WARN(
logger_, "Initial rotation and allow backward parameters are both true, "
Expand Down
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