fix the depth to relative in list_parameters (ros2#2300)

* fix the depth to relative in list_parameters Signed-off-by: leeminju531 <dlalswn531@naver.com>
Barry-Xu-2018 · Jan 12, 2024 · 5d0da84 · 5d0da84
1 parent f67f3ef
commit 5d0da84
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -1059,7 +1059,7 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
               if (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) {
                 return true;
               }
-              std::string substr = kv.first.substr(prefix.length());
+              std::string substr = kv.first.substr(prefix.length() + 1);
               return separators_less_than_depth(substr);
             }
             return false;

diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
@@ -95,15 +95,15 @@ TEST_F(TestNodeParameters, list_parameters)
     std::find(list_result2.names.begin(), list_result2.names.end(), parameter_name),
     list_result2.names.end());
 
-  // Check prefixes
+  // Check prefixes and the depth relative to the given prefixes
   const std::string parameter_name2 = "prefix.new_parameter";
   const rclcpp::ParameterValue value2(true);
   const rcl_interfaces::msg::ParameterDescriptor descriptor2;
   const auto added_parameter_value2 =
     node_parameters->declare_parameter(parameter_name2, value2, descriptor2, false);
-  EXPECT_EQ(value.get<bool>(), added_parameter_value.get<bool>());
+  EXPECT_EQ(value2.get<bool>(), added_parameter_value2.get<bool>());
   prefixes = {"prefix"};
-  auto list_result3 = node_parameters->list_parameters(prefixes, 2u);
+  auto list_result3 = node_parameters->list_parameters(prefixes, 1u);
   EXPECT_EQ(1u, list_result3.names.size());
   EXPECT_NE(
     std::find(list_result3.names.begin(), list_result3.names.end(), parameter_name2),