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rtt_ros2_params: add declareParameter operation #40

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rtt_ros2_params: add declareParameter operation #40

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5 changes: 5 additions & 0 deletions rtt_ros2_params/include/orocos/rtt_ros2_params/rosparam.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,14 @@ class RosParam : public RTT::ServiceRequester
: RTT::ServiceRequester("rosparam", owner),
getParameter("getParameter"),
setParameter("setParameter"),
declareParameter("declareParameter"),
setOrDeclareParameter("setOrDeclareParameter"),
loadProperty("loadProperty"),
storeProperty("storeProperty")
{
this->addOperationCaller(getParameter);
this->addOperationCaller(setParameter);
this->addOperationCaller(declareParameter);
this->addOperationCaller(setOrDeclareParameter);

// Operations loadProperty and storeProperty are only available if the requester is connected
Expand All @@ -61,6 +63,9 @@ class RosParam : public RTT::ServiceRequester
RTT::OperationCaller<bool(
const std::string & name,
const rclcpp::ParameterValue & value)> setParameter;
RTT::OperationCaller<bool(
const std::string & name,
const rclcpp::ParameterValue & default_value)> declareParameter;
RTT::OperationCaller<bool(
const std::string & name,
const rclcpp::ParameterValue & value)> setOrDeclareParameter;
Expand Down
3 changes: 3 additions & 0 deletions rtt_ros2_params/include/orocos/rtt_ros2_params/rtt_ros2_params_service.hpp
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Expand Up @@ -40,6 +40,9 @@ class RosParamService : public RTT::Service
bool setParameter(
const std::string & name,
const rclcpp::ParameterValue & value);
bool declareParameter(
const std::string & name,
const rclcpp::ParameterValue & default_value);
bool setOrDeclareParameter(
const std::string & name,
const rclcpp::ParameterValue & value);
Expand Down
41 changes: 41 additions & 0 deletions rtt_ros2_params/src/rtt_ros2_params_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,12 @@ RosParamService::RosParamService(RTT::TaskContext * owner)
.arg("name", "Name of the parameter to set")
.arg("value", "The value of the parameter to set");

addOperation(
"declareParameter", &RosParamService::declareParameter, this, RTT::ClientThread)
.doc("Try to declare a parameter to the node parameter server and set its value.")
.arg("name", "Name of the parameter to set")
.arg("default_value", "The default value of the parameter to declare");

addOperation(
"setOrDeclareParameter", &RosParamService::setOrDeclareParameter, this, RTT::ClientThread)
.doc("Sets a parameter to the node parameter server and eventually declares it")
Expand Down Expand Up @@ -147,6 +153,41 @@ bool RosParamService::setParameter(
return true;
}

bool RosParamService::declareParameter(
const std::string & name,
const rclcpp::ParameterValue & default_value=rclcpp::ParameterValue())
{
RTT::Logger::In in(getName());

RTT::log(RTT::Debug) <<
"Declaring the parameter \"" << name << "\"" <<
RTT::endlog();

auto rosnode = rtt_ros2_node::getNode(getOwner());
if (nullptr == rosnode) {
RTT::log(RTT::Error) <<
"No ROS node service from package rtt_ros2_node loaded into this "
"component or as a global service." <<
RTT::endlog();
return false;
}

if (!rosnode->has_parameter(name)) {
// Create new parameter
RTT::log(RTT::Info) <<
"The parameter did not exist" <<
RTT::endlog();
rosnode->declare_parameter(name, default_value);
return true;
}
else{
RTT::log(RTT::Error) <<
"Failed to declare ROS parameter " << name << ": " <<
"has already been declared" << RTT::endlog();
return false;
}
}

bool RosParamService::setOrDeclareParameter(
const std::string & name,
const rclcpp::ParameterValue & value)
Expand Down