node_utils.hpp

// Copyright (c) 2019 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_UTIL__NODE_UTILS_HPP_
#define NAV2_UTIL__NODE_UTILS_HPP_
 
#include <vector>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "rcl_interfaces/srv/list_parameters.hpp"
 
namespace nav2_util
{
 
 
std::string sanitize_node_name(const std::string & potential_node_name);
 
 
std::string add_namespaces(const std::string & top_ns, const std::string & sub_ns = "");
 
 
std::string generate_internal_node_name(const std::string & prefix = "");
 
 
rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix = "");
 
 
std::string time_to_string(size_t len);
 
/* Declares static ROS2 parameter and sets it to a given value
 * if it was not already declared.
 *
 * \param[in] node A node in which given parameter to be declared
 * \param[in] param_name The name of parameter
 * \param[in] default_value Parameter value to initialize with
 * \param[in] parameter_descriptor Parameter descriptor (optional)
 */
template<typename NodeT>
void declare_parameter_if_not_declared(
  NodeT node,
  const std::string & param_name,
  const rclcpp::ParameterValue & default_value,
  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
  rcl_interfaces::msg::ParameterDescriptor())
{
  if (!node->has_parameter(param_name)) {
    node->declare_parameter(param_name, default_value, parameter_descriptor);
  }
}
 
/* Declares static ROS2 parameter with given type if it was not already declared.
 *
 * \param[in] node A node in which given parameter to be declared
 * \param[in] param_type The type of parameter
 * \param[in] default_value Parameter value to initialize with
 * \param[in] parameter_descriptor Parameter descriptor (optional)
 */
template<typename NodeT>
void declare_parameter_if_not_declared(
  NodeT node,
  const std::string & param_name,
  const rclcpp::ParameterType & param_type,
  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
  rcl_interfaces::msg::ParameterDescriptor())
{
  if (!node->has_parameter(param_name)) {
    node->declare_parameter(param_name, param_type, parameter_descriptor);
  }
}
 
 
template<typename NodeT>
std::string get_plugin_type_param(
  NodeT node,
  const std::string & plugin_name)
{
  declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::PARAMETER_STRING);
  std::string plugin_type;
  try {
    if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
      RCLCPP_FATAL(
        node->get_logger(), "Can not get 'plugin' param value for %s", plugin_name.c_str());
      exit(-1);
    }
  } catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
    RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
    exit(-1);
  }
 
  return plugin_type;
}
 
template<typename NodeT1, typename NodeT2>
void copy_all_parameters(const NodeT1 & parent, const NodeT2 & child)
{
  using Parameters = std::vector<rclcpp::Parameter>;
  std::vector<std::string> param_names = parent->list_parameters({}, 0).names;
  Parameters params = parent->get_parameters(param_names);
  for (Parameters::const_iterator iter = params.begin(); iter != params.end(); ++iter) {
    if (!child->has_parameter(iter->get_name())) {
      child->declare_parameter(iter->get_name(), iter->get_parameter_value());
    }
  }
}
 
}  // namespace nav2_util
 
#endif  // NAV2_UTIL__NODE_UTILS_HPP_