Use the new declare_or_get_parameter API for nav2_waypoint_follower #5742
Conversation
Signed-off-by: csy100886 <csy100886@gmail.com>
Signed-off-by: csy100886 <csy100886@gmail.com>
csy100886
force-pushed
the
new_param_api-nav2_waypoint_follower
branch
from
497bdfc to
1a79cc1
Compare
mini-1235
left a comment
mini-1235
left a comment
There was a problem hiding this comment.
@csy100886 Please address the following items :)
Signed-off-by: csy100886 <csy100886@gmail.com>
csy100886
force-pushed
the
new_param_api-nav2_waypoint_follower
branch
from
abb2856 to
ab28ec2
Compare
Signed-off-by: csy100886 <csy100886@gmail.com>
|
Thank you so much for your review! |
| rclcpp::ParameterValue(std::string("nav2_waypoint_follower::WaitAtWaypoint"))); | ||
| } | ||
|
|
||
| } // namespace nav2_waypoint_follower |
There was a problem hiding this comment.
Why are we moving namespaces?
| loop_rate_ = get_parameter("loop_rate").as_int(); | ||
| waypoint_task_executor_id_ = get_parameter("waypoint_task_executor_plugin").as_string(); | ||
| global_frame_id_ = get_parameter("global_frame_id").as_string(); | ||
| stop_on_failure_ = nav2::declare_or_get_parameter<bool>( |
There was a problem hiding this comment.
Use the node->declare_or_get_parameter version. You also shouldn't need to explicitly provide the template, it should be deduced by the default argument.
Please see other PRs which have implemented this already
|
Also see CI. This doesn't compile https://app.circleci.com/pipelines/github/ros-navigation/navigation2/16944/workflows/78157566-43fd-4856-975b-e51bd3f7ded5/jobs/49747 How did you test this? |
|
@csy100886 any updates? Also, please pull in / rebase main |
3 participants
Basic Info
Description of contribution in a few bullet points
Update declare_parameter_if_not_declared and get_parameter fields to use the new declare_or_get_parameter API for nav2_waypoint_follower
Description of documentation updates required from your changes
N/A
Description of how this change was tested
Performed linting validation using pre-commit run --all or colcon test
Future work that may be required in bullet points
For Maintainers:
backport-*.