map for dynamic parameters doesn't work

[andy-Chien]

System:
Ubuntu 22.04
ROS Humble
generate-parameter-library 0.2.8

I can't get the dynamic parameters I setted, only get the default value.
Then I ckecked the header file generated by this lib, found the veriable used to point to the value of dynamic parameters map is not using a reference.

For example, Part of the generated code for setting dynamic params as follows

  1    // declare and set all dynamic parameters
  2   for (const auto & value : updated_params.name_array){
  3        auto entry = updated_params.test.name_array_map[value];
  4        auto param_name = fmt::format("{}{}.{}.{}", prefix_, "test", value, "test_1");
  5       if (!parameters_interface_->has_parameter(param_name)) {
  6            rcl_interfaces::msg::ParameterDescriptor descriptor;
  7            descriptor.description = "";
  8            descriptor.read_only = false;
  9            auto parameter = rclcpp::ParameterValue(entry.test_1);
  10          parameters_interface_->declare_parameter(param_name, parameter, descriptor);
  11     }
  12    param = parameters_interface_->get_parameter(param_name);
  13    entry.test_1 = param.as_bool();}

Replace line 3 as below and use the modified header as source code to build, it works.

`auto & entry = updated_params.test.name_array_map[value];`

But I don't know how to modify this library to make the generated header correct.
Is it only me having this problem? Or maybe I'm misunderstanding something?

[tylerjw]

That line is generated from here:

generate_parameter_library/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/declare_runtime_parameter

Line 3 in ba27364

auto& entry = {{param_struct_instance}}.{{parameter_map}}[value];

As you can see it now is auto& entry = .... In the latest version released into Humble (apt update should fix this for you) 0.3.0 this bug is fixed.

apt info ros-humble-generate-parameter-library
Version: 0.3.0-1jammy.20221202.034649

[andy-Chien]

Okay got it, thanks!
But when I try to update, the latest version available to upgrade for humble is 0.2.8, is there something I should or I can do to get the new version? or just wait a few days until it's available.

[tylerjw]

I believe it is available now, you may need to run rosdep update and apt update then apt upgrade. If that doesn't work you can build it from source. If you do that you'll also need the library rsl in your workspace: https://github.com/pickNikRobotics/RSL

[andy-Chien]

I see, thanks a lot 👍