Remove need for sensor_model_list, motion_model_list, and publisher_list #5
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…claring them Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
| const std::map<std::string, rclcpp::ParameterValue> & overrides, | ||
| std::string prefix, size_t depth) | ||
| { | ||
| // TODO(sloretz) ROS 2 must have this in a header somewhere, right? |
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If it exists it probably doesn't exist universally 😬
Case in point:
https://github.com/ros2/rclcpp/blob/df994e435df6cbdb19ab7ada839f403367fb769a/rclcpp/include/rclcpp/node_impl.hpp#L292
| std::unordered_set<std::string> | ||
| list_parameter_overrides_at_prefix( | ||
| node_interfaces::NodeInterfaces<node_interfaces::Parameters> interfaces, | ||
| std::string prefix, size_t depth = 0); |
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Let's do this instead (I think it's a slightly more intuitive naming), so it doesn't get confused with "get at n-depth", but instead does "get up-to n-depth"
| std::string prefix, size_t depth = 0); | |
| std::string prefix, size_t max_depth = -1); |
Changes should be made elsewhere as appropriate, I think
Alternatively, if the intention is to follow list_parameters's signature, disregard this comment
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Ah, I didn't even know about depth in list_parameters signature.
In order to avoid confusing the two APIs I renamed list_parameter_overrides_at_prefix to list_parameter_override_prefixes and removed the depth argument in 1343096. It now always behaves like it had been given a depth of 1 in the old implementation, which is all fuse needs.
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| TEST(parameter, list_parameter_overrides) | ||
| { | ||
| const std::map<std::string, rclcpp::ParameterValue> overrides = { |
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Could we also have something at depth 3 and test the depth=2 case?
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In 1343096 I added a few more tests with longer parameter names.
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
| } // namespace detail | ||
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| /** | ||
| * @brief Get pararameter overrides that have a given prefix |
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Merging, then will continue review in locusrobotics#307 |
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Ah, nevermind. I can't merge. @methylDragon mind merging it? |
This adds a helper function to fuse_core (which should really be upstreamed to rclcpp) that allows discovering parameters at a given prefix without declaring them. It the uses that new function to avoid needing new parameters for the list of sensor models, motion models, and publishers.
@methylDragon